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公开(公告)号：US11875535B2
公开(公告)日：2024-01-16
申请号：US17339177
申请日：2021-06-04
Inventor： Zhikang Zou , Xiaoqing Ye , Xiao Tan , Hao Sun
CPC classification number: G06T7/80 , G06T7/74 , G06T2207/10028
Abstract: A method and an apparatus for calibrating an external parameter of a camera are provided. The method may include: acquiring a time-synchronized data set of three-dimensional point clouds and two-dimensional image of a calibration reference object, the two-dimensional image being acquired by a camera with a to-be-calibrated external parameter; establishing a transformation relationship between a point cloud coordinate system and an image coordinate system, the transformation relationship including a transformation parameter; back-projecting the data set of the three-dimensional point clouds onto a plane where the two-dimensional image is located through the transformation relationship to obtain a set of projection points of the three-dimensional point clouds; adjusting the transformation parameter to map the set of the projection points onto the two-dimensional image; and obtaining an external parameter of the camera based on the adjusted transformation parameter and the data set of the three-dimensional point clouds.
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公开(公告)号：US11776155B2
公开(公告)日：2023-10-03
申请号：US16894123
申请日：2020-06-05
Inventor： Xiaoqing Ye , Xiao Tan , Wei Zhang , Hao Sun , Errui Ding
IPC: G06T7/73 , G06N3/04 , G06N3/08 , G06T7/70 , G06T11/20 , G06V10/764 , G06V10/82 , G06V20/58 , G06V20/64 , G06V10/25 , G06F18/24 , G06F18/214
CPC classification number: G06T7/73 , G06F18/214 , G06F18/24 , G06N3/04 , G06N3/08 , G06T7/70 , G06T11/20 , G06V10/764 , G06V10/82 , G06V20/58 , G06V20/647 , G06T2207/20081 , G06T2207/20084 , G06T2210/12
Abstract: Embodiments of the present disclosure provide a method and apparatus for detecting a target object in an image. The method includes: performing following prediction operations using a pre-trained neural network: detecting a target object in a two-dimensional image to determine a two-dimensional bounding box of the target object; and determining a relative position constraint relationship between the two-dimensional bounding box of the target object and a three-dimensional projection bounding box obtained by projecting a three-dimensional bounding box of the target object into the two-dimensional image; and the method further including: determining the three-dimensional projection bounding box of the target object, based on the two-dimensional bounding box of the target object and the relative position constraint relationship between the two-dimensional bounding box of the target object and the three-dimensional projection bounding box.
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公开(公告)号：US20210319261A1
公开(公告)日：2021-10-14
申请号：US17354557
申请日：2021-06-22
Inventor： Xiaoqing Ye , Xiao Tan , Hao Sun
Abstract: A vehicle information detection method, a method for training a detection model, an electronic device and a storage medium are provided, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision and deep learning. The method includes: performing a first target detection operation based on an image of a target vehicle, to obtain a first detection result for target information of the target vehicle; performing an error detection operation based on the first detection result, to obtain error information; and performing a second target detection operation based on the first detection result and the error information, to obtain a second detection result for the target information.
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公开(公告)号：US11557062B2
公开(公告)日：2023-01-17
申请号：US17172883
申请日：2021-02-10
Inventor： Xiaoqing Ye , Xiao Tan , Hao Sun , Hongwu Zhang
Abstract: Embodiments of the present disclosure provide a method and apparatus for processing a video frame, and relates to the field of computer vision technology. The method may include: acquiring a plurality of candidate first-order radial distortion parameters preset for a to-be-processed video frame, and acquiring a specified value of a specified radial distortion parameter; performing radial distortion correction on the to-be-processed video frame to obtain a first initial corrected video frame; selecting a first initial corrected video frame in which a local region except for a center region after distortion correction includes a largest number of straight line segments; and determining a candidate first-order radial distortion parameter corresponding to the selected first initial corrected video frame for use as a target first-order radial distortion parameter of the to-be-processed video frame.
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公开(公告)号：US11521331B2
公开(公告)日：2022-12-06
申请号：US17179456
申请日：2021-02-19
Inventor： Xiaoqing Ye , Xiao Tan , Hao Sun , Hongwu Zhang
Abstract: Embodiments of the present disclosure disclose a method and apparatus for generating position information, a device and a medium. A specific embodiment of the method includes: acquiring an image and vehicle position information, wherein the image includes a target element; inputting the image into a pre-established depth map generation model to obtain a first depth map, wherein the focal length of sample images of sample data used during the training of the model is a sample focal length; generating a second depth map based on the sample focal length, the first depth map, and an estimated focal length of the image; determining depth information of the target element according to element position information of the target element in the image and the second depth map; and generating position information of the target element based on the vehicle position information and the depth information of the target element.
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Patent Agency Ranking
公开(公告)号：US20210312209A1
公开(公告)日：2021-10-07
申请号：US17349055
申请日：2021-06-16
Inventor： Xiaoqing Ye , Xiao Tan , Hao Sun
Abstract: A vehicle information detection method, an electronic device and a storage medium are provided, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision and deep learning. The method includes: determining a bird's-eye view of a target vehicle based on an image of the target vehicle; performing feature extraction on the image of the target vehicle and the bird's-eye view respectively, to obtain first feature information corresponding to the image of the target vehicle and second feature information corresponding to the bird's-eye view of the target vehicle; and determining three-dimensional information of the target vehicle based on the first feature information and the second feature information. According to embodiments of the disclosure, accurate detection of vehicle information can be realized based on a monocular image.
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公开(公告)号：US20210174537A1
公开(公告)日：2021-06-10
申请号：US16894123
申请日：2020-06-05
Inventor： Xiaoqing Ye , Xiao Tan , Wei Zhang , Hao Sun , Errui Ding
Abstract: Embodiments of the present disclosure provide a method and apparatus for detecting a target object in an image. The method includes: performing following prediction operations using a pre-trained neural network: detecting a target object in a two-dimensional image to determine a two-dimensional bounding box of the target object; and determining a relative position constraint relationship between the two-dimensional bounding box of the target object and a three-dimensional projection bounding box obtained by projecting a three-dimensional bounding box of the target object into the two-dimensional image; and the method further including: determining the three-dimensional projection bounding box of the target object, based on the two-dimensional bounding box of the target object and the relative position constraint relationship between the two-dimensional bounding box of the target object and the three-dimensional projection bounding box.
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公开(公告)号：US11887388B2
公开(公告)日：2024-01-30
申请号：US17346835
申请日：2021-06-14
Inventor： Xiaoqing Ye , Zhikang Zou , Xiao Tan , Hao Sun
CPC classification number: G06V20/647 , G06N3/08 , G06T7/75 , G06V10/82 , G06T2200/08 , G06T2207/20081 , G06T2207/30244 , G06T2210/04 , G06V10/462
Abstract: The present disclosure provides an object pose obtaining method, and an electronic device, relates to technology fields of image processing, computer vision, and deep learning. A detailed implementation is: extracting an image block of an object from an image, and generating a local coordinate system corresponding to the image block; obtaining 2D projection key points in an image coordinate system corresponding to a plurality of 3D key points on a 3D model of the object; converting the 2D projection key points into the local coordinate system to generate corresponding 2D prediction key points; obtaining direction vectors between each pixel point in the image block and each 2D prediction key point, and obtaining a 2D target key point corresponding to each 2D predication key point based on the direction vectors; and determining a pose of the object according to the 3D key points and the 2D target key points.
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公开(公告)号：US11867801B2
公开(公告)日：2024-01-09
申请号：US17354557
申请日：2021-06-22
Inventor： Xiaoqing Ye , Xiao Tan , Hao Sun
IPC: G06K9/62 , G06K9/00 , G06K9/68 , G01S13/931 , G06T7/521 , G01S13/42 , G01S13/86 , G06N3/08 , G06T7/60 , G06V20/52 , G06V30/24 , G06F18/214 , G06F18/25 , G06F18/21 , G06V10/25 , G06V10/80 , G06V10/44 , G06V10/98 , G06V20/54 , G06V20/64
CPC classification number: G01S13/931 , G01S13/42 , G01S13/867 , G06F18/214 , G06F18/217 , G06F18/25 , G06N3/08 , G06T7/521 , G06T7/60 , G06V10/25 , G06V10/454 , G06V10/80 , G06V10/98 , G06V20/52 , G06V20/54 , G06V20/64 , G06V30/248 , G06T2207/10028 , G06T2207/30236 , G06V30/2552 , G06V2201/00 , G06V2201/08
Abstract: A vehicle information detection method, a method for training a detection model, an electronic device and a storage medium are provided, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision and deep learning. The method includes: performing a first target detection operation based on an image of a target vehicle, to obtain a first detection result for target information of the target vehicle; performing an error detection operation based on the first detection result, to obtain error information; and performing a second target detection operation based on the first detection result and the error information, to obtain a second detection result for the target information.
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公开(公告)号：US20220270289A1
公开(公告)日：2022-08-25
申请号：US17743402
申请日：2022-05-12
Inventor： Wei Zhang , Xiaoqing Ye , Xiao Tan , Hao Sun , Shilei Wen , Hongwu Zhang , Errui Ding
IPC: G06T7/73 , G06T7/194 , G06T7/593 , H04N13/128
Abstract: A method and device for detecting a vehicle pose, relating to the fields of computer vision and automatic driving. The specific implementation solution comprises: inputting a vehicle left view point image and a vehicle right view point image into a part prediction and mask segmentation network model, and determining foreground pixel points and part coordinates thereof in a reference image; converting coordinates of the foreground pixels in the reference image into coordinates of the foreground pixels in a camera coordinate system so as to obtain a pseudo-point cloud, and fusing part coordinate of the foreground pixels and the pseudo-point cloud to obtain fused pseudo-point cloud; and inputting the fused pseudo-point cloud into a pre-trained pose prediction model to obtain a pose information of the vehicle to be detected.
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