Image processing method, network training method, and related device

An image processing apparatus, comprising at least one processor and at least one memory storing instructions that, when executed by the at least one processor, cause the image processing apparatus to:

• obtain a first image including a first vehicle;
• input the first image into an image processing network to obtain a first result output by the image processing network, wherein when a side face of the first vehicle is exposed in the first image, the first result comprises location information of a two-dimensional (2D) bounding frame of the first vehicle, coordinates of a wheel of the first vehicle, and a first angle of the first vehicle;
• the first angle of the first vehicle indicates an included angle between a side line of the first vehicle and a first axis of the first image;
• the side line of the first vehicle is an intersection line between the exposed side face of the first vehicle and a ground plane on which the first vehicle is located;
• and the first axis of the first image is parallel to one side of the first image;
• and
• generate location information of a three-dimensional (3D) outer bounding box of the first vehicle based on the location information of the 2D bounding frame of the first vehicle, the coordinates of the wheel, and the first angle, wherein the location information of the 3D outer bounding box of the first vehicle comprises coordinates of at least two first points, the at least two first points are all located on a side of the 3D outer bounding box of the first vehicle, the side of the 3D outer bounding box of the first vehicle is located using two first points in the at least two first points, and the 3D outer bounding box of the first vehicle is located using the coordinates of the at least two first points.

A non-transitory computer-readable storage medium, storing a program that, when executed by a computer, enable the computer to perform operations comprising:

• obtaining a first image comprising a first vehicle;
• inputting the first image into an image processing network to obtain a first result output by the image processing network, wherein when a side face of the first vehicle is exposed in the first image, the first result comprises location information of a two-dimensional (2D) bounding frame of the first vehicle, coordinates of a wheel of the first vehicle, and a first angle of the first vehicle;
• the first angle of the first vehicle indicates an included angle between a side line of the first vehicle and a first axis of the first image;
• the side line of the first vehicle is an intersection line between the exposed side face of the first vehicle and a ground plane on which the first vehicle is located;
• and the first axis of the first image is parallel to one side of the first image;
• and
• generating location information of a three-dimensional (31) outer bounding box of the first vehicle based on the location information of the 2D bounding frame of the first vehicle, the coordinates of the wheel, and the first angle, wherein the location information of the 3D outer bounding box of the first vehicle comprises coordinates of at least two first points, the at least two first points are all located on a side of the 3D outer bounding box of the first vehicle, the side of the 3D outer bounding box of the first vehicle is located using two first points in the at least two first points, and the 3D outer bounding box of the first vehicle is located using the coordinates of the at least two first points.