Patent ID: 11893884
Assignee: APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method for acquiring three-dimensional perception information based on external parameters of a roadside camera, the roadside camera comprising a first camera and a second camera having a common view area, wherein the method comprises:
acquiring a first matching point pair between an image captured by the first camera and an image captured by the second camera, and generating a first rotation matrix according to the first matching point pair, wherein the first rotation matrix represents a rotation matrix of the first camera in a second camera coordinate system;
acquiring a second rotation matrix, wherein the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and generating a third rotation matrix according to the first rotation matrix and the second rotation matrix, wherein the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system; and
generating three-dimensional perception information of the image captured by the first camera according to the third rotation matrix;
wherein the generating the first rotation matrix according to the first matching point pair comprises: generating a fourth rotation matrix according to the first matching point pair, wherein the fourth rotation matrix represents a rotation matrix of the second camera in an equivalent camera coordinate system; and acquiring a fifth rotation matrix, wherein the fifth rotation matrix represents a rotation matrix of the first camera in the equivalent camera coordinate system, and generating the first rotation matrix according to the fourth rotation matrix and the fifth rotation matrix.