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公开(公告)号：US11519715B2
公开(公告)日：2022-12-06
申请号：US17303300
申请日：2021-05-26
摘要： A method, device, apparatus and a computer-readable storage medium for detecting a height of an obstacle are provided. The method can include: acquiring observation data of a plurality of reference obstacles from a frame; according to the observation data of each of the reference obstacles, fitting a function F: Z=F(ymax), wherein the observation data of a reference obstacle comprises a longitudinal coordinate of a bottom of the reference obstacle in the frame, and a distance between the reference obstacle and a camera capturing the frame; and determining a distance between the obstacle to be detected and the camera, according to the longitudinal coordinate of the bottom of the obstacle in the frame and the function F; and determining an evaluation value of the height of the obstacle to be detected according to the distance between the obstacle to be detected and the camera.
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公开(公告)号：US11126875B2
公开(公告)日：2021-09-21
申请号：US16508918
申请日：2019-07-11
摘要： A method and device of multi-focal sensing of an obstacle. A method includes acquiring detection results of obstacles at multiple moments by utilizing a camera with long focus lens and a camera with short focus lens; performing a target tracking to the acquired detection results, to obtain at least two tracking sequences, wherein each tracking sequence includes detection results acquired at the multiple moments for a same obstacle; and matching two random tracking sequences of the at least two tracking sequences, and combining the two random tracking sequences into a combined tracking sequence, if the matching is successful.
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3.发明授权公开(公告)号：US10685245B2
公开(公告)日：2020-06-16
申请号：US15991405
申请日：2018-05-29
摘要： The present disclosure provides a method and apparatus of obtaining obstacle information, a device and a computer storage medium, wherein the method of obtaining obstacle information comprises: obtaining scenario data synchronously collected by a laser radar device and a camera device; using point cloud top view data in the scenario data to perform obstacle recognition to obtain a point cloud set of candidate obstacles; using fusion features of the scenario data corresponding to the point cloud set of the candidate obstacles to perform obstacle recognition to obtain specific obstacle information. The technical solution according to the present disclosure enables accurate obtainment of specific obstacle information, thereby enhances the sensing capability of the self-driving vehicle and improves safety of the self-driving vehicle.
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公开(公告)号：US11042761B2
公开(公告)日：2021-06-22
申请号：US16512130
申请日：2019-07-15
IPC分类号： G06K9/00 , G06T7/292 , G01C11/08 , G01V8/20 , G06K9/62 , G06T11/20 , H04N5/247 , B60R11/04 , H04N5/225
摘要： Embodiments of a method and system for sensing an obstacle, a computer device, and a computer-readable storage medium are provided. The method can include: capturing continuously, by first and second cameras adjacently arranged on a motor vehicle, obstacles around the motor vehicle, to obtain at least a first obstacle image and a second obstacle image respectively; associating the first obstacle image with the second obstacle image; determining whether the first obstacle image and the second obstacle image comprise the same obstacle. By means of some of the disclosed methods and systems, an obstacle can be real-time sensed by a motor vehicle in a large field of view, such as, a range of 360° around the vehicle.
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公开(公告)号：US11024045B2
公开(公告)日：2021-06-01
申请号：US16562129
申请日：2019-09-05
发明人： Yucheng Wang , Xun Sun , Tian Xia
摘要： Embodiments of the present disclosure provide a method and an apparatus for generating three-dimensional data, a device, and a storage medium. The method comprises: obtaining a profile information annotation result for a target object in a two-dimensional image; calculating depth of field of the target object and a three-dimensional orientation of the target object according to the profile information annotation result and a standard three-dimensional size of the target object; determining a three-dimensional coordinate of a reference two-dimensional image point in the target object according to a two-dimensional coordinate of the reference two-dimensional image point in the two-dimensional image and the depth of field; and generating three-dimensional data matching the target object according to the three-dimensional coordinate of the reference two-dimensional image point and the three-dimensional orientation of the target object.
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6.发明申请公开(公告)号：US20200089976A1
公开(公告)日：2020-03-19
申请号：US16508918
申请日：2019-07-11
摘要： A method and device of multi-focal sensing of an obstacle. A method includes acquiring detection results of obstacles at multiple moments by utilizing a camera with long focus lens and a camera with short focus lens; performing a target tracking to the acquired detection results, to obtain at least two tracking sequences, wherein each tracking sequence includes detection results acquired at the multiple moments for a same obstacle; and matching two random tracking sequences of the at least two tracking sequences, and combining the two random tracking sequences into a combined tracking sequence, if the matching is successful.
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公开(公告)号：US20200082181A1
公开(公告)日：2020-03-12
申请号：US16512130
申请日：2019-07-15
摘要： Embodiments of a method and system for sensing an obstacle, a computer device, and a computer-readable storage medium are provided. The method can include: capturing continuously, by first and second cameras adjacently arranged on a motor vehicle, obstacles around the motor vehicle, to obtain at least a first obstacle image and a second obstacle image respectively; associating the first obstacle image with the second obstacle image; determining whether the first obstacle image and the second obstacle image comprise the same obstacle. By means of some of the disclosed methods and systems, an obstacle can be real-time sensed by a motor vehicle in a large field of view, such as, a range of 360° around the vehicle.
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公开(公告)号：US11210534B2
公开(公告)日：2021-12-28
申请号：US16561971
申请日：2019-09-05
发明人： Mingjian Liu , Yucheng Wang , Xun Sun , Shufu Xie , Yuqiang Zhai , Hao Wang , Tian Xia
摘要： Embodiments of the present disclosure disclose a method for position detection, a device, and a storage medium. The method includes: detecting a first lane line in a current image captured by a camera; performing an optimization on an initial transformation matrix reflecting a mapping relationship between a world coordinate system and a camera coordinate system based on a detection result of the first lane line; and obtaining a first 3D coordinate of a target object in the current image according to a transformation matrix optimized, and determining an ultimate 3D coordinate of the target object according to the first 3D coordinate.
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公开(公告)号：US11047673B2
公开(公告)日：2021-06-29
申请号：US16513095
申请日：2019-07-16
摘要： A method, device, apparatus and a computer-readable storage medium for detecting a height of an obstacle are provided. The method can include: acquiring observation data of a plurality of reference obstacles from a frame; for each reference obstacle, determining a first evaluation value of the height of the obstacle to be detected, according to the observation data of the reference obstacle, an observed height of the obstacle to be detected in a frame, an actual height of the reference obstacle, and a distance between a bottom of the obstacle to be detected in the frame and an optical axis of a camera capturing the frame; and determining a second evaluation value of the height of the obstacle to be detected by using a plurality of first evaluation values for the plurality of reference obstacles.
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公开(公告)号：US20200082183A1
公开(公告)日：2020-03-12
申请号：US16561971
申请日：2019-09-05
发明人： Mingjian Liu , Yucheng Wang , Xun Sun , Shufu Xie , Yuqiang Zhai , Hao Wang , Tian Xia
摘要： Embodiments of the present disclosure disclose a method for position detection, a device, and a storage medium. The method includes: detecting a first lane line in a current image captured by a camera; performing an optimization on an initial transformation matrix reflecting a mapping relationship between a world coordinate system and a camera coordinate system based on a detection result of the first lane line; and obtaining a first 3D coordinate of a target object in the current image according to a transformation matrix optimized, and determining an ultimate 3D coordinate of the target object according to the first 3D coordinate.
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