Ranging method, ranging device and ranging system

Patent metadata

Field	Value
Publication number	US-12259462-B2
Application number	US-201917251599-A
Country	US
Kind code	B2
Filing date	Jun 14, 2019
Priority date	Jun 15, 2018
Publication date	Mar 25, 2025
Grant date	Mar 25, 2025

Abstract

The present disclosure provides a ranging method, a ranging device, and a ranging system. The method includes: acquiring a video image and a radar signal set that are collected respectively by a camera and radar at the same time; determining position information corresponding to each target object in the video image; determining one or more target object that have matched a radar signal in the video image; determining a ranging algorithm based on the position information corresponding to the target objects that have matched radar signals and the radar signals matching the target objects; and calculating a distance between a target object that does not match a radar signal in the video image and a designated vehicle according to position information corresponding to the target object that does not match a radar signal in the video image and through the ranging algorithm.

First claim

The invention claimed is:

1. A method, comprising:
acquiring a video image and a radar signal set that are collected respectively by a camera and a radar at a same time;
determining position information corresponding to each target object in the video image;
determining one or more target objects that have matched radar signals in the video image;
determining a ranging algorithm based on position information corresponding to the one or more target objects that have matched radar signals and the radar signals matching the one or more target objects; and
calculating a distance between a target object having a mismatched radar signal in the video image and a designated vehicle according to position information corresponding to the target object having the mismatched radar signal in the video image and through the ranging algorithm,
wherein determining the one or more target objects that have matched radar signals in the video image comprises:
in response to determining that a video area of each target object of the one or more target objects in the video image overlaps with a projection area of a radar target in the video image, determining that the target object matches a radar signal corresponding to the radar target,

wherein the ranging algorithm comprises a monocular ranging model with a formula:

D
v

=

(

y

r
⁢
c
⁢
c

⁢

f
y

+

y

p
⁢
r
⁢
c

⁢

f
y

cos
⁢

θ

r
⁢
c
⁢
c

+

c
y

⁢

z

r
⁢
c
⁢
c

-

p
⁢

z

r
⁢
c
⁢
c

)

p
⁢

cos
⁡
(

θ

r
⁢
c
⁢
c

+

θ

p
⁢
p

)

-

f
y

⁢

sin
⁡
(

θ

r
⁢
c
⁢
c

+

θ

p
⁢
p

-

c
y

⁢

cos
⁡
(

θ

r
⁢
c
⁢
c

+

θ

p
⁢
p

)

)

,

where D v denotes distance information, f y denotes a scaling factor of the camera in a v-axis direction of an image coordinate system, c y denotes a coordinate value of a principal point of the camera in a v-axis direction of the image coordinate system, θ rcc denotes a reference pitch angle of the radar relative to the camera in a camera coordinate system, y rcc denotes a displacement relative to the camera in a Y-axis direction of the camera coordinate system, z rcc denotes a displacement relative to the camera in a Z-axis direction of the came

Assignees

• Hangzhou Hikvision Digital Tec

Inventors

• Zhu Yushi
• Sun Jie

Classifications

• G06T2207/30261

  Obstacle · CPC title

• G06T2207/10044

  Radar image · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/08

  Systems for measuring distance only (indirect measurement G01S13/46) · CPC title