Abstract: The present disclosure provides a three-dimensional element layout visualization method and apparatus. The three-dimensional element layout visualization method includes: determining a bounding box of each three-dimensional element in a visualization interface; projecting the bounding box of each three-dimensional element in a target projection direction to obtain edge elements of the bounding box of each three-dimensional element in the visualization interface; and determining, according to positions of the edge elements in the visualization interface, at least one edge element set satisfying a first preset condition, and displaying a collinearity identification corresponding to the edge element set in the visualization interface.

Abstract: Methods, apparatus, electronic devices, and computer-readable storage media for calibrating image acquiring devices are provided. In one aspect, a computer-implemented method includes: obtaining a scene image of a preset scene acquired by an image acquiring device disposed on a traveling device, the preset scene including at least two parallel lines, the traveling device being located between adjacent two parallel lines, and sides of the traveling device being substantially parallel to the two parallel lines; based on the scene image, determining two line segments, and first coordinate information of a plurality of target reference points on each line segment of the two line segments in a pixel coordinate system and second coordinate information of the plurality of target reference points in a world coordinate system; and determining a homography matrix corresponding to the image acquiring device based on the first coordinate information and the second coordinate information.

Abstract: Methods, apparatus, systems for calibrating sensors are provided. In one aspect, a sensor includes a radar and a camera, and a first calibration plate is located within a common field of view range of the radar and the camera. A calibration method for the sensor includes: collecting a plurality of first images by the camera, position-orientation information of the first calibration plate in position-orientations in the plurality of first images being different; obtaining a first intrinsic parameter of the camera; determining an extrinsic parameter of the first calibration plate in each position-orientation relative to the camera according to the first intrinsic parameter and the plurality of first images; obtaining multiple sets of radar point cloud data of the first calibration plate in each position-orientation; and determining a target extrinsic parameter between the radar and the camera according to the extrinsic parameter and the multiple sets of radar point cloud data.

Abstract: Methods, apparatus, systems, and storage media for calibrating sensors are provided. In one aspect, a calibration method for a sensor having a camera and a radar includes: collecting a plurality of images of a calibration plate located within a common field of view range of the radar and the camera in respective position-orientations by the camera; collecting multiple sets of radar point cloud data of the calibration plate in the respective position-orientations by the radar; establishing corresponding relationships between the plurality of images and the multiple sets of radar point cloud data based on the respective position-orientations; determining multiple sets of target radar point cloud data matched with the calibration plate in the respective position-orientations among the multiple sets of radar point cloud data; and determining a target extrinsic parameter between the radar and the camera according to the target radar point cloud data and corresponding relationships.

Abstract: The present disclosure provides a three-dimensional element layout visualization method and apparatus. The three-dimensional element layout visualization method includes: determining a bounding box of each three-dimensional element in a visualization interface; projecting the bounding box of each three-dimensional element in a target projection direction to obtain edge elements of the bounding box of each three-dimensional element in the visualization interface; and determining, according to positions of the edge elements in the visualization interface, at least one edge element set satisfying a first preset condition, and displaying a collinearity identification corresponding to the edge element set in the visualization interface.

Abstract: A calibration method, an electronic device, and a storage medium are provided. The calibration method includes the following. A sample image is acquired with an image acquisition device. Initial pixel coordinates of multiple sample reference objects in the sample image in an image coordinate system are determined based on the sample image. Straight-line fitting is performed on sample reference objects on a same straight line based on the determined initial pixel coordinates of the sample reference objects in the image coordinate system, and the initial pixel coordinates of the sample reference objects involved in straight-line fitting are corrected based on fitted straight lines to obtain corrected pixel coordinates. A homography matrix of the image acquisition device is determined based on world coordinates of the multiple sample reference objects in the sample image in a world coordinate system and the obtained corrected pixel coordinates.