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    METHOD AND APPARATUS FOR POSITIONING AUTONOMOUS VEHICLE
    13.
    发明公开
    METHOD AND APPARATUS FOR POSITIONING AUTONOMOUS VEHICLE 审中-公开

    公开(公告)号：EP3614225A1

    公开(公告)日：2020-02-26

    申请号：EP19184311.9

    申请日：2019-07-04

    申请人： Baidu Online Network Technology (Beijing) Co., Ltd.

    发明人： LI, Hao ,  WAN, Guowei ,  ZHOU, Yao ,  SONG, Shiyu ,  DONG, Fangfang

    IPC分类号： G05D1/02 ,  G01C21/30 ,  G06T7/77 ,  G06T7/35

    摘要： Embodiments of the present disclosure disclose a method and apparatus for positioning an autonomous vehicle. A specific embodiment of the method includes: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result; determining at least two first response areas in the first histogram filter based on a probability value of an element in the first histogram filter, the probability value of the element corresponding to the first response area being greater than a probability value of another element in the first histogram filter; generating a second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution and the at least two first response areas, the first resolution being less than the second resolution; and calculating a weighted average of probability values of target elements in the second histogram filter to determine a positioning result of the autonomous vehicle in the map of the second resolution. This embodiment reduces computing resources consumed for positioning an autonomous vehicle.

    THRESHOLD DETERMINATION IN FOR EXAMPLE A TYPE RANSAC ALGORITHM
    15.
    发明公开
    THRESHOLD DETERMINATION IN FOR EXAMPLE A TYPE RANSAC ALGORITHM 有权
    SCHUMELLENWERTBESTIMMUNG在ZUM BEISPIEL EINEM RANSAC算法

    公开(公告)号：EP3182371A1

    公开(公告)日：2017-06-21

    申请号：EP16199466

    申请日：2016-11-18

    申请人： ST MICROELECTRONICS SA

    发明人： ALIBAY MANU ,  AUBERGER STÉPHANE

    IPC分类号： G06T7/33 ,  G06T7/35

    CPC分类号： H04N5/23254 ,  G06T7/33 ,  G06T7/35 ,  G06T2207/20076 ,  H04N5/145 ,  H04N5/23267

    摘要： Method for determining a movement between each current pair of first and second successive video images captured by an apparatus, said method including a phase of testing a plurality of model hypotheses of said movement by for example a RANSAC type algorithm, operating on a set of first points in the first image and first assumed corresponding points in the second image so as to deliver the best model hypothesis, said phase of testing comprising for each first point, calculating a corresponding estimated point using the tested model hypothesis, determining the back-projection error between said estimated point and the assumed corresponding point in the second image, and comparing each back projection error with a threshold. Said phase of testing comprises for each first point of the first image, determining a correction term (”T i ) taking into account an estimation of the depth (Z i ) of said first point in said first image and an estimation (Mest) of the relative movement between the first and the second images, and determining the threshold (T i ) associated with said first point by using said correction term.

    摘要翻译： 用于确定由装置捕获的每个当前第一和第二连续视频图像对之间的移动的方法，所述方法包括通过例如RANSAC型算法测试所述移动的多个模型假设的阶段，所述阶段对一组第一 指向第一图像中的点并且首先假定第二图像中的对应点以便传递最佳模型假设，所述测试阶段包括对于每个第一点，使用测试模型假设来计算对应的估计点，确定反投影误差 在所述估计点与所述第二图像中的假定对应点之间，并且将每个反投影误差与阈值进行比较。 所述测试阶段包括：针对第一图像的每个第一点，考虑到所述第一图像中的所述第一点的深度（Z i）的估计以及估计（Mest），确定校正项（“T i”） 第一图像与第二图像之间的相对移动，以及通过使用所述校正项来确定与所述第一点相关联的阈值（T i）。

    EVALUATING MOVEMENTS OF A PERSON
    18.
    发明公开
    EVALUATING MOVEMENTS OF A PERSON 审中-公开

    公开(公告)号：EP4145400A1

    公开(公告)日：2023-03-08

    申请号：EP22161712.9

    申请日：2022-03-11

    申请人： Kemtai Ltd.

    发明人： Amitai, Mor

    IPC分类号： G06V10/74 ,  G06V10/80 ,  G06V10/84 ,  G06V20/40 ,  G06V40/10 ,  G06T7/33 ,  G06T7/35

    摘要： A method, a system, and a non-transitory computer readable medium for evaluating first movements of a first person in view of movements of a second person. The method may include determining the relationships between the first frames and the second frames by a sequence alignment algorithm, the determining of the relationships is based on the inter-frame similarity scores and the multiple state-related scores; and determining at least one evaluation score of the movements of the first person, based on the relationships and the multiple inter-frame similarity scores; wherein the at least one evaluation score is indicative of a similarity between the movements of the first person and the movements of the second person.