CN-121999039-A - Geographic coordinate calibration method and device, electronic equipment and medium

CN121999039ACN 121999039 ACN121999039 ACN 121999039ACN-121999039-A

Abstract

The application provides a geographic coordinate calibration method, a geographic coordinate calibration device, electronic equipment and a medium, wherein the method comprises the steps of obtaining actual geographic coordinates of a plurality of reference points in a target area; the method comprises the steps of obtaining image coordinates corresponding to a plurality of reference points in an image corresponding to a target area, obtaining the image coordinates corresponding to a point to be marked in the target area in the image corresponding to the target area, and determining the actual geographic coordinates of the point to be marked according to a first coordinate mapping relation corresponding to the plurality of reference points and the image coordinates corresponding to the point to be marked. The first coordinate mapping relation determined by the plurality of reference points in the non-planar scene is more suitable for geographic coordinate calibration in the non-planar scene, so that the accuracy of a geographic coordinate calibration result can be improved.

Inventors

LU HAO
HUANG JIE
ZHOU GUANGTAO
ZHANG TONGDA
WANG LEI
SUN KAIXUAN
QIN LIHAN

Assignees

联通智网科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251215

Claims (10)

1. The geographic coordinate calibration method is characterized by comprising the following steps of: Acquiring actual geographic coordinates of a plurality of reference points in a target area; Acquiring image coordinates corresponding to a plurality of reference points from the image corresponding to the target area; Acquiring image coordinates corresponding to a point to be marked in the target area in the image corresponding to the target area; And determining the actual geographic coordinates of the points to be marked according to first coordinate mapping relations corresponding to the reference points and the image coordinates corresponding to the points to be marked, wherein the first coordinate mapping relations are mapping relations between the actual geographic coordinates and the image coordinates.
2. The method according to claim 1, wherein determining the actual geographic coordinates of the point to be marked according to the first coordinate mapping relationships corresponding to the plurality of reference points and the image coordinates corresponding to the point to be marked comprises: Determining a target reference point among a plurality of said reference points; Determining geographic coordinate offset of other reference points except the target reference point in the plurality of reference points by taking the target reference point as a reference, wherein the geographic coordinate offset is an offset relative to the actual geographic coordinate of the target reference point; Determining the geographic coordinate offset of the point to be marked according to a second coordinate mapping relation corresponding to the other reference points and the image coordinates corresponding to the point to be marked, wherein the second coordinate mapping relation is a mapping relation between the geographic coordinate offset and the image coordinates; And determining the actual geographic coordinates of the point to be marked according to the geographic coordinate offset of the point to be marked and the actual geographic coordinates of the target reference point.
3. The method according to claim 2, wherein determining the geographic coordinate offset of the point to be marked according to the second coordinate mapping relation corresponding to the other reference points and the image coordinates corresponding to the point to be marked comprises: Training the geographic coordinate calibration model according to the second coordinate mapping relation corresponding to the other reference points; inputting the image coordinates corresponding to the points to be calibrated into the trained geographic coordinate calibration model, and outputting the geographic coordinate offset of the points to be calibrated.
4. A method according to claim 3, wherein the training the geographic coordinate calibration model according to the second coordinate mapping relationship corresponding to the other reference points comprises: extracting image coordinate derived features of the other reference points according to the image coordinates corresponding to the other reference points; Determining image coordinate feature vectors of the other reference points according to the image coordinates and the image coordinate derivative features corresponding to the other reference points; And training the geographic coordinate calibration model according to a third coordinate mapping relation corresponding to the other reference points, wherein the third coordinate mapping relation is a mapping relation of geographic coordinate offset and image coordinate feature vectors.
5. A method according to claim 3, wherein the training the geographic coordinate calibration model according to the second coordinate mapping relationship corresponding to the other reference points comprises: Inputting the image coordinates corresponding to the other reference points into a geographic coordinate calibration model, and outputting the predicted offset of the other reference points; and training the geographic coordinate calibration model according to the prediction errors between the geographic coordinate offset and the prediction offset of the other reference points.
6. The method according to claim 5, wherein inputting the image coordinates corresponding to the other reference points into a geographic coordinate calibration model, and outputting the predicted offsets of the other reference points, comprises: according to the formula: determining a predicted offset for each of the other reference points; Wherein, the For the image coordinates corresponding to the i-th other reference point, For the kth decision tree, For the weight coefficient corresponding to the kth decision tree, Is the predicted offset for the i-th other reference point.
7. The method of claim 5, wherein training the geographic coordinate calibration model based on the prediction error between the geographic coordinate offset and the predicted offset for the other reference points comprises: according to the formula: determining a loss value for each of the other reference points; training a geographic coordinate calibration model according to the loss value of each other reference point in the other reference points; Wherein, the For the image coordinates corresponding to the i-th other reference point, For the geographic coordinate offset of the i-th other reference point, For the predicted offset of the i-th other reference point, Is the loss value of the i-th other reference point.
8. A geographic coordinate calibration device, comprising: the actual geographic coordinate acquisition module is used for acquiring actual geographic coordinates of a plurality of reference points in the target area; The image coordinate acquisition module is used for acquiring image coordinates corresponding to a plurality of reference points in the image corresponding to the target area; The image coordinate acquisition module is also used for acquiring image coordinates corresponding to a point to be marked in the target area in the image corresponding to the target area; the geographic coordinate calibration module is used for determining the actual geographic coordinates of the points to be calibrated according to first coordinate mapping relations corresponding to the reference points and the image coordinates corresponding to the points to be calibrated, wherein the first coordinate mapping relations are mapping relations between the actual geographic coordinates and the image coordinates.
9. An electronic device, comprising: A processor; A memory; and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of any one of claims 1 to 7.

Description

Geographic coordinate calibration method and device, electronic equipment and medium Technical Field The present application relates to the field of intelligent transportation technologies, and in particular, to a geographic coordinate calibration method, a geographic coordinate calibration device, an electronic device, and a medium. Background In the technical field of intelligent traffic, the digital twin of traffic scenes can provide environment sensing and decision basis exceeding the sensing range of the vehicle-mounted sensor for the automatic driving vehicle, and the running efficiency and the safety of a traffic system are improved. The method comprises the steps of acquiring a monitoring image of a traffic scene through an image acquisition device, and marking the geographic positions of traffic participants such as vehicles, pedestrians and the like in the image, so that the method is an important technical means for constructing digital twinning of the traffic scene. In the related art, the calibration of the geographic position of a point to be calibrated (such as a key point of a vehicle or a pedestrian) in an image can be realized through the mapping relation between an image coordinate system and a world coordinate system. The method comprises the steps of establishing a mapping relation between a pixel coordinate system and a camera coordinate system according to internal parameters such as focal length and distortion coefficient of an image acquisition device, establishing a mapping relation between the camera coordinate system and the world coordinate system according to external parameters such as pose of the image acquisition device in the world coordinate system, and establishing a mapping relation between the image coordinate system and the world coordinate system by combining the two mappings. However, the mapping relationship between the image coordinate system constructed by the method and the world coordinate system is a linear mapping relationship, so that the applicability to non-planar scenes such as slope roads or roads with relief is poor, and the geographic coordinate calibration result of the point to be calibrated is inaccurate. It should be noted that the information disclosed in the background section of the present application is only for enhancement of understanding of the general background of the present application and should not be taken as an admission or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art. Disclosure of Invention The application provides a geographic coordinate calibration method, a geographic coordinate calibration device, electronic equipment and a medium, which are beneficial to solving the problem of inaccurate geographic coordinate calibration results of points to be calibrated. In a first aspect, an embodiment of the present application provides a geographic coordinate calibration method, including: Acquiring actual geographic coordinates of a plurality of reference points in a target area; Acquiring image coordinates corresponding to a plurality of reference points from the image corresponding to the target area; Acquiring image coordinates corresponding to a point to be marked in the target area in the image corresponding to the target area; And determining the actual geographic coordinates of the points to be marked according to first coordinate mapping relations corresponding to the reference points and the image coordinates corresponding to the points to be marked, wherein the first coordinate mapping relations are mapping relations between the actual geographic coordinates and the image coordinates. In some possible implementations, the determining, according to the first coordinate mapping relationships corresponding to the plurality of reference points and the image coordinates corresponding to the to-be-calibrated point, the actual geographic coordinates of the to-be-calibrated point includes: Determining a target reference point among a plurality of said reference points; Determining geographic coordinate offset of other reference points except the target reference point in the plurality of reference points by taking the target reference point as a reference, wherein the geographic coordinate offset is an offset relative to the actual geographic coordinate of the target reference point; Determining the geographic coordinate offset of the point to be marked according to a second coordinate mapping relation corresponding to the other reference points and the image coordinates corresponding to the point to be marked, wherein the second coordinate mapping relation is a mapping relation between the geographic coordinate offset and the image coordinates; And determining the actual geographic coordinates of the point to be marked according to the geographic coordinate offset of the point to be marked and the actual geographic coordinates of the target reference point. In so