Research on the Parsing Algorithm of Monocular Visual Structured Data Based on YOLOv5

Visual perception plays an important role in autonomous driving technology. The two key factors in visual perception tasks are monocular object detection and structured data analysis. In this paper, a structured data parsing algorithm based on monocular vision is proposed. Firstly, using the single-stage YOLOv5 object detection model, the target was located and its kind was identified. Secondly, the 3D position of the object in the camera coordinate system is calculated according to the mapping relationship between the imaging point and the target point. Finally, the distance between the object and the camera is calculated by using the pinhole camera model, and the size of the object and the horizontal declination Angle relative to the optical center of the camera are estimated by geometric derivation. This method not only has a simple principle, but also guarantees the precision of structured data output. Experimental findings support the method's viability and efficiency.