公开(公告)号：US20200242331A1

公开(公告)日：2020-07-30

申请号：US16773286

申请日：2020-01-27

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

Inventor： Xibin SONG ,  Ruigang YANG

IPC: G06K9/00 ,  G06T7/73 ,  G06T7/55

Abstract: The present disclosure provides a method and device for acquiring 3D information of an object. The method includes: extracting two-dimensional (2D) key points of the object based on the image, and determining a candidate 3D model set matching the image; determining a plurality of first reference attitudes and positions of each candidate 3D model according to the 3D key points and the 2D key points; acquiring a plurality of reprojection error values between each candidate 3D model and the object at the plurality of first reference attitudes and positions; determining a first target attitude and position and a first target 3D model corresponding to a minimum reprojection error value in the first reprojection error value set; and acquiring the 3D information of the object based on the first target attitude and position and the first target 3D model.