公开(公告)号：US12073630B2

公开(公告)日：2024-08-27

申请号：US17513859

申请日：2021-10-28

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Wanlong Li ,  Xueshi Li ,  Yajun Gao ,  Feng Wen

IPC: G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06V20/56

CPC classification number: G06V20/56 ,  G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: This disclosure provides a moving object tracking method and apparatus. The method includes: obtaining a current frame captured by a camera; predicting a current state vector of the camera based on an inertial measurement unit IMU and the current frame, to obtain a predicted value of the current state vector of the camera; predicting a current state vector of a target object that is moving in the current frame, to obtain a predicted value of the current state vector of the target object; and updating a Kalman state vector based on a measurement result of an image feature in the current frame. According to technical solutions provided in this disclosure, a target object that is moving in a surrounding environment can be tracked and a pose of the target object can be estimated while a pose of a system can be estimated.

公开(公告)号：US20240242512A1

公开(公告)日：2024-07-18

申请号：US18619091

申请日：2024-03-27

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Zhe Chen ,  Feng Wen ,  Zhenbo Liu

IPC: G06V20/56 ,  G06V10/26 ,  G06V10/80 ,  G06V10/82

CPC classification number: G06V20/588 ,  G06V10/26 ,  G06V10/80 ,  G06V10/82

Abstract: A road information identification method and apparatus are provided The method includes: receiving road environment data of a plurality of modalities, where a road environment includes an environment of a lane area and an environment of a lane-free area; performing topology parsing based on the road environment data of the plurality of modalities, to obtain a lane-level topology connection relationship of a road, where the lane-level topology connection relationship of the road indicates a mutual location relationship between lanes on the road and a connection status of the lanes; and determining road information of the road based on the lane-level topology connection relationship of the road. An electronic device, a computer-readable storage medium, and a vehicle are further provided.

公开(公告)号：US11379698B2

公开(公告)日：2022-07-05

申请号：US16825145

申请日：2020-03-20

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Wanlong Li ,  Feng Wen

IPC: G06K9/62 ,  B25J9/16 ,  G06F17/16 ,  G06V10/75

Abstract: The method includes: determining a reference sensor from at least two sensors and sampling moments of the reference sensor; when obtaining observation data of a sensor K at a moment t1, determining a type of the sensor K; if the sensor K is a first sensor of a first type, determining a sampling moment T1 that is closest to t1 and an interpolation coefficient λ1, and calculating first rotation data and first translation data that are at T1, and a first covariance matrix; if the sensor K is a second sensor of a second type, determining two sampling moments T2 and T3 that are closest to t1 and interpolation coefficients λ2 and λ3, and calculating second rotation data and second translation data that are of the second sensor from T2 to T3, and a second covariance matrix; merging rotation data, translation data, and covariance matrices that are at the sampling moments.