The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 20, 2021
Filed:
May. 23, 2019
Beijing Sensetime Technology Development Co., Ltd., Beijing, CN;
BEIJING SENSETIME TECHNOLOGY DEVELOPMENT CO., LTD., Beijing, CN;
Abstract
A visual positioning method includes: detecting a lane line of a surface based on a video stream of the road surface collected by a camera mounted on a vehicle; determining first reference point information at a current angle of view according to a detection result of the lane line; determining a third homography matrix according to the first and second reference point information at a previous angle of view of the camera, the position of a second reference point corresponds to that of a first reference point, and the third homography matrix is used for representing a mapping relationship between a coordinate of the camera at the current angle of view and a coordinate of the camera at the previous angle of view; determining a first homography matrix according to the third homography matrix and a predetermined homography matrix; and performing positioning according to the first homography matrix.