Urban environment labelling
AssigneeBlue Vision Labs UK Limited
InventorsPeter Ondruska, Lukas Platinsky, Giacomo Dabisias
Life of this patent
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Abstract
The present invention relates to a method and system for automatic localisation of static objects in an urban environment. More particularly, the present invention relates to the use of noisy 2-Dimensional (2D) image data to identify and determine 3-Dimensional (3D) positions of objects in large scale urban or city environments. Aspects and/or embodiments seek to provide a method, system, and vehicle for automatically locating static 3D objects in urban environments by using a voting-based triangulation technique. Aspects and/or embodiments also provide a method for updating map data after automatically new 3D static objects in an environment.
Claims20
A method for locating one or more static objects in an environment, the method comprising;
- receiving a plurality of 2D images of the environment;
- detecting the one or more static objects from the plurality of 2D images;
- generating a data set of 2D static object detections associated with the one or more static objects;
- and
- performing a voting-based triangulation on the data set of 2D static object detections to determine one or more 3D positions for the one or more static objects detected in the environment, wherein a vote to determine the one or more 3D positions is based on a distance between an estimated 3D position for one of the one or more static objects and a position of one of the 2D static object detections satisfying a distance threshold.
A system for locating one or more static objects in an environment, the system comprising a processor that causes the system to perform:
- receive a plurality of 2D images of the environment;
- detect the one or more static objects from the plurality of 2D images;
- generate a data set of 2D static object detections associated with the one or more static objects;
- and
- perform a voting-based triangulation on the data set of the 2D static object detections to determine one or more 3D positions for the one or more static objects detected in the environment, wherein a vote to determine the one or more 3D positions is based on a distance between an estimated 3D position for one of the one or more static objects and a position of one of the 2D static object detections satisfying a distance threshold.
A non-transitory computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform a method comprising:
- receiving a plurality of 2D images of the environment;
- detecting one or more static objects from the plurality of 2D images;
- generating a data set of 2D static object detections associated with the one or more static objects;
- and
- performing a voting-based triangulation on the data set of 2D static object detections to determine one or more 3D positions for the one or more static objects detected in the environment, wherein a vote to determine the one or more 3D positions is based on a distance between an estimated 3D position for one of the one or more static objects and a position of one of the 2D static object detections satisfying a distance threshold.
Dependencies are inferred from the claim text.