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Obstacle pose determination method and device, equipment and medium

A technology of obstacle and pose, which is applied in the field of determination of obstacle pose, can solve problems such as inaccurate estimation of point cloud obstacle pose, influence on pose estimation, and inability to accurately determine obstacle pose information, etc., to achieve The effect of simplifying the determination process, improving accuracy, and avoiding the problem of inaccurate pose estimation

Active Publication Date: 2019-11-05
DEEPBLUE TECH (SHANGHAI) CO LTD
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Problems solved by technology

[0003] However, the existing lidar obstacle pose estimation algorithm is either integrated in the obstacle detection algorithm, or based on 3D point cloud pose estimation. The former will affect the pose estimation when the obstacle detection is inaccurate, and the latter Or the obstacle pose estimation is inaccurate due to the sparsity of the point cloud
[0004] In summary, none of the existing lidar obstacle pose estimation algorithms can accurately determine the pose information of obstacles

Method used

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  • Obstacle pose determination method and device, equipment and medium
  • Obstacle pose determination method and device, equipment and medium
  • Obstacle pose determination method and device, equipment and medium

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Embodiment Construction

[0043] The specific implementations of the method, device, equipment and medium for determining the obstacle pose provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] Such as figure 1 As shown, the embodiment of the present invention provides a method for determining the pose of an obstacle, including the following steps:

[0045] S101. Acquire a picture containing an obstacle point cloud.

[0046] During the specific implementation, the 3D point cloud data containing obstacles is collected by lidar, and the point cloud data of the road surface is filtered out from the 3D point cloud data, and the obstacle point cloud data is filtered out, and then the obstacle point cloud data is mapped on the bird's-eye view. In the coordinate system of the figure, two-dimensional point cloud data containing obstacles is generated, and based on the two-dimensional point cloud data, a picture containing p...

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Abstract

The embodiment of the invention discloses an obstacle pose determination method and device, equipment and a medium, which are used for improving the accuracy of the determined obstacle pose. The obstacle pose determination method comprises the steps of obtaining a picture containing obstacle point cloud, inputting the picture into a pre-trained obstacle pose recognition model to obtain an output result, and determining the pose of an obstacle contained in the picture based on the output result of the obstacle pose recognition model.

Description

technical field [0001] The present invention relates to the technical field of artificial intelligence, in particular to a method, device, equipment and medium for determining the pose of an obstacle. Background technique [0002] In the vehicle automatic driving scenario, by determining the position and orientation of obstacles on the vehicle's driving road, it can help the vehicle plan a suitable driving route to avoid potential collision risks between the vehicle and the obstacles when driving on the driving road. [0003] However, the existing lidar obstacle pose estimation algorithm is either integrated in the obstacle detection algorithm, or based on 3D point cloud pose estimation. The former will affect the pose estimation when the obstacle detection is inaccurate, and the latter Or the obstacle pose estimation is inaccurate due to the sparsity of the point cloud. [0004] To sum up, none of the existing lidar obstacle pose estimation algorithms can accurately determ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G08G1/16
CPCG08G1/16G06V20/58G06F18/214
Inventor 陈海波
Owner DEEPBLUE TECH (SHANGHAI) CO LTD
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