Back to results
US 11,453,337 B2Granted
Method and apparatus with three-dimensional object display
AssigneeSamsung Electronics Co., Ltd.
InventorsJiyeon Kim, Wooshik Kim
Life of this patent
Estimating the term…
Abstract
A method of displaying a three-dimensional (3D) object includes acquiring a driving image from a single camera, classifying line marks including a road surface into one or more groups based on a change in a curvature of a line of the road surface, estimating a pitch angle corresponding to an angle of inclination between the road surface and the single camera for each of the one or more groups, generating 3D information of the road surface, and displaying an 3D object visually overlaid on the road surface based on the 3D information of the road surface.
Claims28
A processor-implemented method, the method comprising:
- acquiring a driving image including a road surface from a single camera;
- extracting lines of the road surface corresponding to a driving lane from the driving image by detecting lines having lengths greater than or equal to a predetermined length included in the driving image by searching for an edge in the driving image, and estimating the lines of the road surface corresponding to the driving lane by grouping the detected lines based on a driving direction;
- calculating curvatures of the extracted lines;
- classifying line marks of the road surface into one or more groups based on a degree of change in a curvature of a line of the extracted lines;
- estimating a pitch angle of the road surface, corresponding to an angle of inclination between the road surface and the single camera, for each of the one or more groups;
- generating three-dimensional (3D) information of the road surface using the pitch angle of the road surface for each of the one or more groups;
- and
- displaying a 3D object visually overlaid on the road surface based on the 3D information.
5 more elements
An apparatus, the apparatus comprising:
- a communication interface configured to acquire a driving image including a road surface from a single camera;
- a processor configured to;
- extract lines of the road surface corresponding to a driving lane from the driving image;
- detect lines having lengths greater than or equal to a predetermined length included in the driving image by searching for an edge from the driving image, and estimate the lines of the road surface corresponding to the driving lane by grouping the detected lines based on a driving direction;
- calculate curvatures of the extracted lines;
- classify line marks of the road surface into one or more groups based on a degree of change in a curvature of a line of the detected lines;
- estimate a pitch angle of the road surface corresponding to an angle of inclination between the road surface and the single camera for each of the one or more groups;
- generate three-dimensional (3D) information of the road surface using the pitch angle of the road surface for each of the one or more groups;
- and
- represent a 3D object visually overlaid on the road surface based on the 3D information;
- and
- a display configured to display a 3D road model representing the 3D object.
9 more elements
An apparatus, comprising:
- a single camera sensor configured to acquire a driving image including a road surface;
- and
- a processor configured to;
- extract lines of the road surface corresponding to a driving lane from the driving image;
- detect lines having lengths greater than or equal to a predetermined length included in the driving image by searching for an edge from the driving image, and estimate the lines of the road surface corresponding to the driving lane by grouping the detected lines based on a driving direction;
- calculate curvatures of the extracted lines;
- classify line marks of the road surface into one or more groups based on a degree of change in a curvature of a line of the road surface;
- estimate a pitch angle of the road surface corresponding to an angle of inclination between the road surface and the single camera sensor for each of the one or more groups;
- and
- generate 3D information of the road surface using the pitch angle for each of the one or more groups.
7 more elements
Dependencies are inferred from the claim text.