Estimation method for pitch angle of vehicle-mounted camera and lane line equation in world coordinate system

The invention discloses a method for estimating a pitch angle of a vehicle-mounted camera and an equation of a lane line in a world coordinate system. The method comprises the following steps: step 1, acquiring an image shot by the vehicle-mounted camera; step 2, extracting pixel points of each lane line by using a neural network; step 3, correcting the distortion of the pixel points; step 4, judging a straightway/a curve way; 5, lane line parallelism judgment and camera pitch angle estimation; and step 6, calculating a lane line equation in the world coordinate system. According to the invention, the problem of inaccurate lane line detection in a world coordinate system caused by the change of the pitch angle of the camera is solved; meanwhile, information of multiple lane line pixel points in a picture is fully utilized, complex transmission transformation is avoided, and meanwhile accurate and robust estimation of the pitch angle of the vehicle-mounted camera can be obtained. 本发明公开了一种车载摄像头俯仰角及世界坐标系中的车道线方程估