Object size estimation method, apparatus, electronic device, and medium
By acquiring the accumulated edge point cloud data of the vehicle-mounted millimeter-wave radar, the outline of the target object is predicted and the relative rotation direction and angle are determined, which solves the problem that the vehicle-mounted millimeter-wave radar cannot accurately estimate the size of the target object and achieves more stable and accurate size estimation.
CN117173667BActive Publication Date: 2026-06-02CHINA AUTOMOTIVE INNOVATION CORP
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA AUTOMOTIVE INNOVATION CORP
- Filing Date
- 2023-09-18
- Publication Date
- 2026-06-02
AI Technical Summary
Technical Problem
Vehicle-mounted millimeter-wave radar cannot accurately estimate the size of target objects, resulting in unstable driver assistance functions and inaccurate size estimation.
Method used
By acquiring the cumulative edge point cloud data of the target object, the contour information of the target object is predicted based on multiple edge points, and the relative rotation direction and angle are determined, thereby estimating the size of the target object.
Benefits of technology
It improves the accuracy of target object contour prediction and the stability and precision of size estimation, and eliminates errors caused by the acquisition angle.
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Smart Images
Figure CN117173667B_ABST
Abstract
The application relates to an object size estimation method, device, electronic equipment and medium. The method can comprise: acquiring cumulative edge point cloud data corresponding to a target object, the cumulative edge point cloud data comprising position information of a plurality of edge points, the number of the plurality of edge points being greater than a first quantity threshold; predicting the contour of the target object based on the plurality of edge points to obtain contour information of the target object; determining a relative rotation direction and a relative rotation angle of the target object relative to a previous collection orientation of the target collection orientation; the target collection orientation is a collection orientation at the end of the collection time sequence; and estimating the size of the target object according to the contour information, the relative rotation direction and the relative rotation angle to obtain size information of the target object. According to the technical scheme provided by the application, the point cloud obtained by the millimeter wave radar is no longer sparse, and the accuracy of the size estimation of the target object is improved.
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