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公开(公告)号：US20210272319A1
公开(公告)日：2021-09-02
申请号：US17327052
申请日：2021-05-21
Inventor： Xiang LIU , Shuang ZHANG , Bin GAO , Xiaoxing ZHU , Fan YANG
Abstract: Embodiments of the present disclosure relate to methods and apparatuses for outputting information and calibrating a camera. The method may include: acquiring a first image, a second image, and a third image, the first image being an image photographed by a to-be-calibrated camera, the second image being a high-precision map image including a target area indicated by the first image, and the third image being a reflectance image including the target area; fusing the second image and the third image to obtain a fused image; determining a matching point pair based on points selected by a user in the first image and the fused image; and calibrating the to-be-calibrated camera based on coordinates of the matching point pair.
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公开(公告)号：US20210090295A1
公开(公告)日：2021-03-25
申请号：US16912360
申请日：2020-06-25
Inventor： Xiang LIU , Shuang ZHANG , Bin GAO , Xiaoxing ZHU , Fan YANG
Abstract: Embodiments of the present disclosure relate to methods and apparatuses for outputting information and calibrating a camera. The method may include: acquiring a first image, a second image, and a third image, the first image being an image photographed by a to-be-calibrated camera, the second image being a high-precision map image including a target area indicated by the first image, and the third image being a reflectance image including the target area; fusing the second image and the third image to obtain a fused image; determining a matching point pair based on points selected by a user in the first image and the fused image; and calibrating the to-be-calibrated camera based on coordinates of the matching point pair.
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Patent Agency Ranking
公开(公告)号：US20210124054A1
公开(公告)日：2021-04-29
申请号：US16915541
申请日：2020-06-29
Inventor： Shuang ZHANG , Xiang LIU , Bin GAO , Xiaoxing ZHU , Jingjing XUE , Fan YANG , Junping WANG , Chengfa WANG
IPC: G01S17/931 , G01S17/89 , G01S7/48
Abstract: Embodiments of the present disclosure provide a method and apparatus for detecting an obstacle. The method may include: acquiring first point cloud data collected by a first vehicle-mounted laser radar and second point cloud data collected by a second vehicle-mounted laser radar, where a height of the first vehicle-mounted laser radar from a ground is greater than a height of the second vehicle-mounted laser radar from the ground, and a number of wiring harnesses of the first vehicle-mounted laser radar is greater than a number of wiring harnesses of the second vehicle-mounted laser radar; performing ground estimation based on the first point cloud data; filtering out a ground point in the second point cloud data according to the ground estimation result of the first point cloud data; and performing obstacle detection based on the second point cloud data after the ground point is filtered out.
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公开(公告)号：US20210107469A1
公开(公告)日：2021-04-15
申请号：US16895299
申请日：2020-06-08
Inventor： Bin GAO , Xiang LIU , Shuang ZHANG , Xiaoxing ZHU , Fan YANG
IPC: B60W30/09 , B60W30/095 , B60W60/00
Abstract: A method and apparatus for controlling a vehicle is disclosed. The method may include: determining center points of at least two frames of point clouds collected for an identified obstacle during travelling of the vehicle; performing curve fitting based on the determined center points to obtain a fitted curve; determining a moving velocity of the obstacle based on the fitted curve; predicting whether the vehicle is to be collided with the obstacle when the vehicle continues travelling at a current velocity, based on the moving velocity of the obstacle, the traveling velocity of the vehicle, and a distance between the obstacle and the vehicle; and sending control information to the vehicle, in response to predicting that the vehicle is to be collided with the obstacle when the vehicle continues travelling at the current velocity, the control information being used to control the vehicle to avoid collision with the obstacle.
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公开(公告)号：US20210107531A1
公开(公告)日：2021-04-15
申请号：US16915546
申请日：2020-06-29
Inventor： Xiang LIU , Bin GAO , Shuang ZHANG , Xiaoxing ZHU , Jingjing XUE , Junping WANG , Chengfa WANG
IPC: B60W60/00
Abstract: A method, including: acquiring a point cloud frame including point cloud data of a pedestrian; projecting the point cloud data of the pedestrian to a ground coordinate system to obtain projection point data of the pedestrian; determining a direction of a connection line between the two shoulders of the pedestrian, based on a location distribution of the projection point data; extracting a point cloud of a stable region from the point cloud data of the pedestrian based on the direction of the connection line between the two shoulders of the pedestrian, a form change range of the stable region when the pedestrian moves being smaller than form change ranges of other regions of the pedestrian; and determining movement information of the pedestrian based on a coordinate of a center point of the point cloud of the stable region in a plurality of consecutive point cloud frames.
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公开(公告)号：US20210090263A1
公开(公告)日：2021-03-25
申请号：US16807936
申请日：2020-03-03
Inventor： Xiang LIU , Shuang ZHANG , Bin GAO , Xiaoxing ZHU
Abstract: Embodiments of the present disclosure relate to a method and apparatus for detecting ground point cloud points. The method may include: determining a segmentation plane and a ground based on a point cloud collected by a lidar; segmenting the point cloud into a first sub point cloud and a second sub point cloud based on the segmentation plane; and determining the point cloud points whose distances from the ground are smaller than a first distance threshold in the first sub point cloud as ground point cloud points, and determining the point cloud points whose distances from the ground are smaller than a second distance threshold in the second sub point cloud as the ground point cloud points, where the first distance threshold is smaller than the second distance threshold.
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公开(公告)号：US20210089792A1
公开(公告)日：2021-03-25
申请号：US16912352
申请日：2020-06-25
Inventor： Xiang LIU , Shuang ZHANG , Bin GAO , Xiaoxing ZHU , Jingjing XUE , Fan YANG , Junping WANG , Chengfa WANG
Abstract: Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method may include: acquiring point cloud data and image data collected by a vehicle during a driving process; determining a plurality of time thresholds based on a preset time threshold value range; executing following processing for each time threshold: identifying obstacles included in each point cloud frame and each image frame respectively; determining a similarity between the obstacles; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine the number of obstacles; and determining, based on a plurality of numbers, and outputting a target time threshold.
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