Obstacle detection method and device, equipment and storage medium
An obstacle detection and obstacle technology, applied in the field of obstacle detection and intelligent transportation, can solve the problem of low accuracy of 3D position of obstacles
Active Publication Date: 2020-09-11
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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Problems solved by technology
Due to the diversity of roadside camera deployment positions, angles, and camera internal parameters, the 3D position accuracy of obstacles predicted by 3D detection technology is low
Method used
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[0025] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0026] figure 1 is a flowchart of an obstacle detection method according to an embodiment of the present application, the method may include:
[0027] S101. Acquire position information of a two-dimensional detection frame and position information of a three-dimensional detection frame of an obstacle in an image.
[0028] S102. Convert the position information of t...
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The invention discloses an obstacle detection method and device, equipment and a storage medium, and relates to the field of intelligent transportation. According to the specific implementation scheme, the method comprises the steps of obtaining position information of a two-dimensional detection frame and position information of a three-dimensional detection frame of an obstacle in an image; converting the position information of the three-dimensional detection frame of the obstacle into the position information of the two-dimensional projection frame of the obstacle; and optimizing the position information of the three-dimensional detection frame of the obstacle by utilizing the position information of the two-dimensional detection frame, the three-dimensional detection frame and the two-dimensional projection frame of the obstacle in the image. According to the technical scheme provided by the invention, the position information of the three-dimensional detection frame of the obstacle is optimized by utilizing the position information of the two-dimensional detection frame, the three-dimensional detection frame and the two-dimensional projection frame of the obstacle in the image, so that the accuracy of a prediction result of a roadside, a vehicle-mounted or other sensing equipment on the three-dimensional position of the obstacle can be improved.
Description
technical field [0001] This application relates to the field of intelligent transportation, especially to the field of obstacle detection. Background technique [0002] In the roadside perception of intelligent transportation, the 2D detection frame of the obstacle in the image and the 3D position in the world coordinate system can be obtained through two-dimensional (2D) object detection and three-dimensional (3D) object detection algorithms, where the 3D position Accuracy determines the roadside perception accuracy. Due to the diversity of roadside camera deployment positions, angles, and camera internal parameters, the 3D position accuracy of obstacles predicted by 3D detection technology is low. Contents of the invention [0003] The present application provides an obstacle detection method, device, equipment and storage medium. [0004] According to an aspect of the present application, an obstacle detection method is provided, including: [0005] Obtain the positi...
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Login to View More IPC IPC(8): G06K9/00G06K9/32G06T3/00G06T7/70G06T7/80
CPCG06T7/70G06T7/80G06T2207/10016G06T2207/30261G06V20/58G06V10/25G06T3/06G06T7/73G06V20/647Y02T10/40
Inventor 舒茂
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD