Cooperative Vehicle Infrastructure - Roadside Single Camera Perception System

Abstract

We propose a roadside single-camera sensing system serving the Cooperative Vehicle Infrastructure system, where the sensory data acquisition is done by only one camera. The spatially assisted calibration of the camera is performed by using a high beam LIDAR tape at the time of camera installation, and the points in the image are maximally filled by a multi-frame continuous mapping method according to the radar scanning principle, and the empty points in the image coordinate system are estimated by using the quadratic fitting method to derive the camera pixel-distance map as the base map. After calibration, a single camera is used for data acquisition to realize the target sensing function, which is combined with the calibrated camera pixel-distance map to locate the target, so as to obtain the actual position of the sensing target from the camera sensor to realize single camera roadside intelligent sensing.