Pose estimation
AssigneeFord Global Technologies, LLC
InventorsPunarjay Chakravarty, Subodh Mishra, Mostafa Parchami, Gaurav Pandey, Shubham Shrivastava
Life of this patent
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Abstract
A two-dimensional image segment that includes an outline of an object can be determined in a top-down fisheye image. A six degree of freedom (DoF) pose for the object can be determined based on determining a three-dimensional bounding box determined by one or more of (1) an axis of the two-dimensional image segment in a ground plane included in the top-down fisheye image and a three-dimensional model of the object and (2) inputting the two-dimensional image segment to a deep neural network trained to determine a three-dimensional bounding box for the object.
Claims20
A system, comprising a first computer that includes a processor;
- and a memory, the memory including instructions executable by the processor to:
- determine a two-dimensional image segment that includes an outline of an object in a top-down fisheye image;
- determine a six degree of freedom (DoF) pose for the two-dimensional image segment that includes the outline of the object based on determining a three-dimensional bounding box determined by an axis of the two-dimensional image segment in a ground plane included in the top-down fisheye image and a three-dimensional model of the object based on a signed distance function including transforming the two-dimensional image segment that includes the outline of the object from image plane coordinates to global coordinates based on fisheye lens distortion parameters;
- and
- output the six DoF pose to a second computer included in a vehicle to operate the vehicle.
A method, comprising:
- determining a two-dimensional image segment that includes an outline of an object in a top-down fisheye image;
- and
- determining a six degree of freedom (DoF) pose for the two-dimensional image segment that includes the outline of the object based on determining a three-dimensional bounding box determined by an axis of the two-dimensional image segment in a ground plane included in the top-down fisheye image and a three-dimensional model of the object based on a signed distance function including transforming the two-dimensional image segment that includes the outline of the object from image plane coordinates to global coordinates based on fisheye lens distortion parameters;
- and
- transmitting the six DoF pose to a second computer included in a vehicle to operate the vehicle.
Dependencies are inferred from the claim text.