Monocular vehicle 3D target pose estimation method, system and terminal and storage medium

A technology for 3D target and attitude estimation, applied in computing, image data processing, instruments, etc., can solve the problems of expensive lidar equipment and short service life, and achieve the effect of high cost performance and low hardware cost

Pending Publication Date: 2018-11-27
北京纵目安驰智能科技有限公司
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Although this technology has high precision, the lida

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  • Monocular vehicle 3D target pose estimation method, system and terminal and storage medium
  • Monocular vehicle 3D target pose estimation method, system and terminal and storage medium
  • Monocular vehicle 3D target pose estimation method, system and terminal and storage medium

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[0056] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0057] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the i...

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Abstract

The invention provides a monocular vehicle 3D target pose estimation method, system and terminal and a storage medium. The method includes: S01, establishing a basic network model; S02, acquiring a captured image, acquiring a labeled contour of an object to be labeled from the captured image, acquiring coordinate data of each vertex of the labeled contour, and taking plane coordinate data of eachvertex of the labeled contour as an input of a training basic network model to train the basic network model; and S03, inputting an image to be detected into the basic network model, and outputting the 3D labeled result of the captured image. The method establishes a fast detection based CNN network model, two-dimensional vehicle target detection and three-dimensional vehicle pose estimation are carried out, and the pose of the target is estimated while the target is detected. The SSD algorithm is extended to cover the whole 3D pose space, and only the synthetic model data is trained; and onlythe traditional vision sensor is needed, the hardware cost is very low, and the performance-price ratio is high.

Description

technical field [0001] The present invention relates to the technical field of vehicle electronics, in particular to a method, system, terminal and storage medium for estimating a three-dimensional object attitude of a vehicle based on a single purpose. Background technique [0002] Pose estimation has applications in many fields such as robot vision, motion tracking, and single-camera calibration. The sensors used for attitude estimation in different fields are different. Here we mainly talk about vision-based attitude estimation. Vision-based pose estimation can be divided into monocular vision pose estimation and multi-eye vision pose estimation according to the number of cameras used. [0003] In the application of navigation perception, it is necessary not only to obtain the detection frame of the vehicle target, but also to estimate the three-dimensional attitude of the target. The three-dimensional attitude information includes the length, width, height and heading a...

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Application Information

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IPC IPC(8): G06T7/50
CPCG06T7/50G06T2207/20081G06T2207/20084
Inventor 童仁玲唐锐
Owner 北京纵目安驰智能科技有限公司
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