Object estimation apparatus and method
AssigneesHyundai Motor Company, Kia Corporation
InventorsHyerin Lim, Junsik An
Life of this patent
Estimating the term…
Abstract
Disclosed herein object estimation apparatus and method. The object estimation apparatus according to an example of the disclosure includes a processor and a memory storing instructions that, when executed by the processor, cause the object estimation apparatus to recognize one or more key points set in one or more objects included in an image of an object photographed by a camera, calibrate the image and project a grid map onto the calibrated image, project vertical lines onto the grid map-projected image, and generate, based on the projected vertical lines and the one or more recognized key points, one or more occupied grid map region (OGRs) in the grid map.
Claims20
An object estimation apparatus comprising:
- a processor;
- a memory storing instructions that, when executed by the processor, cause the object estimation apparatus to:
- recognize one or more key points set in one or more objects included in an image of one or more objects photographed by a camera;
- project a grid map onto the image;
- project vertical lines onto the grid map-projected image;
- and
- generate, based on the projected vertical lines and the one or more recognized key points, one or more occupied grid map region (OGRs) in the grid map.
An object estimation method performed by a processor, the method comprising:
- recognizing one or more key points set in one or more objects included in an image of an one or more objects photographed by a camera;
- projecting a grid map onto the image;
- projecting vertical lines onto the grid map-projected image;
- generating, based on the projected vertical lines and the one or more recognized key points, one or more occupied grid map region (OGRs) in the grid map;
- and
- providing the projected grid map to a vehicle for driving.
Dependencies are inferred from the claim text.