Target object positioning method and device, storage medium and equipment

Abstract

The invention provides a target object positioning method and device, a storage medium and equipment, and belongs to the technical field of big data processing. The method comprises the steps that collected laser points are projected to an image coordinate system from a designated coordinate system; dividing laser points projected to an image coordinate system based on m targets detected in the collected video image; under an image coordinate system, performing first round of dirty point filtering on each obtained laser point set; under an appointed coordinate system, performing next round ofdirty point filtering on each laser point set subjected to the first round of dirty point filtering, and clustering each laser point set subjected to the next round of dirty point filtering; and for each target object, calculating the distance from the vehicle to the target object based on the target laser point subset in the y laser point subsets corresponding to the target object. According to the method, the advantages of visual detection in the aspect of verifying the existence of the obstacle and laser in the aspect of distance measurement are fused, and accurate positioning of the targetobject is achieved.

Description

technical field [0001] The present disclosure relates to the technical field of big data processing, and in particular to a target positioning method, device, storage medium and equipment. Background technique [0002] Advanced Driver Assistant System (ADAS) and Autonomous Driving System (ADS) can automatically plan the vehicle's driving path reasonably and control the vehicle's driving state. For example, ADAS and ADS can sense the vehicle's Relevant road information on the current driving road, and make timely and correct driving operations based on this, so as to avoid vehicle accidents caused by the driver's inattention or untimely response. It is precisely because ADAS and ADS have the above-mentioned advantages that ADAS and ADS have become a current artificial intelligence research hotspot. As the future development trend of automobiles, ADAS and ADS have broad development prospects. [0003] Among them, both ADAS and ADS include a perception module and a regulatory...

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Problems solved by technology

[0007] Embodiments of the present disclosure provide a target positioning method, device, storage medium, and equipment, which solve the problem of limited precision and large errors in visual distance measurement and laser detection of targets in the related art, which causes the vehicle to perform path planning and The accuracy of driving state control is not high, which in turn leads to the problem of greater safety risks in the driving process of the vehicle

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