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公开(公告)号：US20210310809A1
公开(公告)日：2021-10-07
申请号：US17350744
申请日：2021-06-17
Inventor： Wenlong Chen , Yang Yang , Pengbin Yang , Jianxu Zhang
Abstract: The present application discloses a dead reckoning method for a vehicle, an apparatus, an apparatus and a storage medium, and relates to the fields of vehicle control, intelligent driving and automatic driving. The specific implementation solution is as follows: obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle; and carrying out dead reckoning on the position and attitude of the vehicle at a current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude at a previous moment.
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公开(公告)号：US11435186B2
公开(公告)日：2022-09-06
申请号：US17350744
申请日：2021-06-17
Inventor： Wenlong Chen , Yang Yang , Pengbin Yang , Jianxu Zhang
Abstract: The present application discloses a dead reckoning method for a vehicle, an apparatus, an apparatus and a storage medium, and relates to the fields of vehicle control, intelligent driving and automatic driving. The specific implementation solution is as follows: obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle; and carrying out dead reckoning on the position and attitude of the vehicle at a current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude at a previous moment.
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Patent Agency Ranking
公开(公告)号：US11328520B2
公开(公告)日：2022-05-10
申请号：US17343100
申请日：2021-06-09
Inventor： Pengbin Yang , Caimao Yuan , Fengze Han , Yang Yang , Fei Ni
IPC: G06V20/56 , B60W40/072 , G06T7/13 , G06V10/44 , B60W30/12 , B60W40/076
Abstract: A lane line determination method and apparatus, a lane line positioning accuracy evaluation method and apparatus, a device and a storage medium are provided, which are related to a field of image processing, and particularly to fields of autonomous driving, intelligent transportation, computer vision and the like. The specific implementation is: determining a line in a received road image; screening pixels forming the line and determining pixels forming a lane line; and fitting the pixels forming the lane line to obtain the lane line. According to the technology of the present disclosure, the disadvantages of manual labeling can be overcome, and the lane line in the image collected by image acquisition device can be automatically recognized using an image recognition method, thereby improving the automation degree of lane labeling.
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公开(公告)号：US12175719B2
公开(公告)日：2024-12-24
申请号：US17405752
申请日：2021-08-18
Inventor： Fengze Han , Pengbin Yang , Caimao Yuan , Yang Yang , Fei Ni
Abstract: An image processing method, apparatus, and electronic device relate to the technical field of image processing. In the method, an initial image is acquired; and then a connected region in the initial image is acquired, where the connected region is a region composed of pixels having pixel values within a target threshold range in the initial image. In addition, a region of interest in the initial image is acquired according to the connected region, and the region of interest is preprocessed to obtain a target image. By extracting the region of interest in the initial image, and only preprocessing the region of interest, the resource expenditure during image preprocessing can be reduced, and the preprocessing efficiency can be improved.
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公开(公告)号：US20210295061A1
公开(公告)日：2021-09-23
申请号：US17343100
申请日：2021-06-09
Inventor： Pengbin Yang , Caimao Yuan , Fengze Han , Yang Yang , Fei Ni
IPC: G06K9/00 , G06K9/46 , G06T7/13 , B60W40/076 , B60W40/072 , B60W30/12
Abstract: A lane line determination method and apparatus, a lane line positioning accuracy evaluation method and apparatus, a device and a storage medium are provided, which are related to a field of image processing, and particularly to fields of autonomous driving, intelligent transportation, computer vision and the like. The specific implementation is: determining a line in a received road image; screening pixels forming the line and determining pixels forming a lane line; and fitting the pixels forming the lane line to obtain the lane line. According to the technology of the present disclosure, the disadvantages of manual labeling can be overcome, and the lane line in the image collected by image acquisition device can be automatically recognized using an image recognition method, thereby improving the automation degree of lane labeling.
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公开(公告)号：US12112503B2
公开(公告)日：2024-10-08
申请号：US17356649
申请日：2021-06-24
Inventor： Caimao Yuan , Pengbin Yang , Fengze Han , Fei Ni , Yang Yang
CPC classification number: G06T7/80 , G06F17/16 , H04N17/002 , H04N23/90 , B60W50/06 , B60W60/001 , B60W2420/403 , G06T2207/30208 , G06T2207/30256
Abstract: The present application discloses a method and an apparatus for calibrating external parameters of an image acquisition device, a device and a storage medium, and relates to the technical field of vehicle positioning. The specific implementation solution is as follows: acquiring an image captured by the image acquisition device; determining a plurality of marking points on a calibration plate in the image; determining a first conversion matrix based on coordinates of each of the marking points in the image pixel coordinate system and the calibration plate coordinate system; determining a second conversion matrix based on coordinates of at least one wheel grounding point of the vehicle in the calibration plate coordinate system and the vehicle body coordinate system; and determining external parameters of the image acquisition device by using the first conversion matrix and the second conversion matrix.
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公开(公告)号：US20210319588A1
公开(公告)日：2021-10-14
申请号：US17356649
申请日：2021-06-24
Inventor： Caimao Yuan , Pengbin Yang , Fengze Han , Fei Ni , Yang Yang
Abstract: The present application discloses a method and an apparatus for calibrating external parameters of an image acquisition device, a device and a storage medium, and relates to the technical field of vehicle positioning. The specific implementation solution is as follows: acquiring an image captured by the image acquisition device; determining a plurality of marking points on a calibration plate in the image; determining a first conversion matrix based on coordinates of each of the marking points in the image pixel coordinate system and the calibration plate coordinate system; determining a second conversion matrix based on coordinates of at least one wheel grounding point of the vehicle in the calibration plate coordinate system and the vehicle body coordinate system; and determining external parameters of the image acquisition device by using the first conversion matrix and the second conversion matrix.
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