公开(公告)号：US20210366155A1

公开(公告)日：2021-11-25

申请号：US17117422

申请日：2020-12-10

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD. .

Inventor： Jinrang Jia

IPC: G06T7/80 ,  G06K9/00 ,  G06K9/62 ,  G06T7/37

Abstract: The present disclosure discloses a method and apparatus for detecting an obstacle, and relates to the technical field of intelligent transportation. A specific implementation plan is: acquiring a current image acquired by a camera; inputting the current image into a pre-trained detection model to obtain a position of a detection frame of an obstacle and determine a first pixel coordinate of a grounding point in the current image; determining an offset between the current image and a template image; converting the first pixel coordinate into a world coordinate of the grounding point based on the offset; and outputting the world coordinate of the grounding point as a position of the obstacle in a world coordinate system. This embodiment solves the problem of camera jitter from an image perspective, greatly improves the robustness of the roadside perception system, and saves computing resources.

公开(公告)号：US20220083787A1

公开(公告)日：2022-03-17

申请号：US17210220

申请日：2021-03-23

Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd.

Inventor： Jinrang Jia

IPC: G06K9/00 ,  G06T7/73 ,  G06K9/32 ,  G06K9/62

Abstract: The present application discloses a method and an apparatus of obstacle three-dimensional position acquisition for a roadside computing device, and relates to the fields of intelligent transportation, cooperative vehicle infrastructure, and autonomous driving. The method may include: acquiring pixel coordinates of an obstacle in a to-be-processed image; determining coordinates of a bottom surface center point of the obstacle according to the pixel coordinates; acquiring a homography relationship between a ground surface corresponding to the to-be-processed image and a ground surface corresponding to a template image; transforming the coordinates of the bottom surface center point of the obstacle into coordinates on the template image according to the homography relationship; and determining three-dimensional coordinates of the bottom surface center point of the obstacle according to the coordinates obtained by transformation and a ground equation corresponding to the template image. By use of the solution of the present application, implementation costs can be saved, and the accuracy is better.