公开(公告)号：US11587332B2

公开(公告)日：2023-02-21

申请号：US17137457

申请日：2020-12-30

Applicant: Beijing Baidu Netcom Science Technology Co., Ltd.

Inventor： Xun Zhou ,  Yuanfan Xie ,  Shirui Li

IPC: G06T7/80 ,  G06V20/56 ,  G06T7/246 ,  G06V10/44

Abstract: The present application discloses a method, an apparatus, a system, and a storage medium for calibrating an exterior parameter of an on-board camera, relating to the field of autonomous driving technologies. A specific implementation scheme of the method in the application is: preprocessing two frames of images of a former frame and a latter frame collected by the on-board camera; performing feature point matching on the two preprocessed frames of images to obtain matched feature points; determining a moving posture of the on-board camera according to the matched feature points; determining a conversion relationship between a vehicle coordinate system and an on-board camera coordinate system according to the moving posture, and obtaining the external parameter of the on-board camera relative to a vehicle body.