Method of determining an orientation of an object and a method and apparatus for tracking an object
AssigneesHyundai Motor Company, Kia Corporation
InventorsJu Heon Baeg, Byoung Kwang Kim
Life of this patent
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Abstract
An object orientation determination method includes generating pixel data on each of a plurality of unit pixels included in a region of interest of a point cloud acquired from an object, generating a plurality of candidate boxes using the generated pixel data, and determining, as a heading angle of an oriented bounding box, an inclination of a candidate box having a smallest cost among costs calculated on the plurality of candidate boxes. A cost of each of the plurality of candidate boxes is calculated based on positions of respective sides of a corresponding one of the plurality of candidate boxes and the pixel data.
Claims14
An object orientation determination method, comprising:
- generating pixel data on each of a plurality of unit pixels included in a region of interest of a point cloud acquired from an object;
- and
- generating a plurality of candidate boxes using the generated pixel data, and determining, as a heading angle of an oriented bounding box, an inclination of a candidate box having a smallest cost among costs calculated on the plurality of candidate boxes,
- wherein a cost of each of the plurality of candidate boxes is calculated based on positions of respective sides of a corresponding one of the plurality of candidate boxes and the pixel data.
An object-tracking apparatus, comprising:
- a data generation unit configured to generate pixel data based on a point cloud acquired from an object;
- a heading angle extraction unit configured to extract a heading angle of an oriented bounding box from the pixel data;
- a bounding box generation unit configured to generate the oriented bounding box using the extracted heading angle;
- and
- an object-tracking unit configured to track the object using the oriented bounding box,
- wherein the data generation unit generates a lattice map, composed of a plurality of unit pixels, with respect to a region of interest in the point cloud, selects a reference point of the region of interest, generates a pixel index indicating a corresponding unit pixel, in which each of all points present in the region of interest is included, among the plurality of unit pixels in the lattice map, with respect to the reference point, and generates pixel data, including information about the number of points included in each of the plurality of unit pixels in the lattice map and center coordinates of each of the plurality of unit pixels, using the pixel index,
- wherein the heading angle extraction unit generates a plurality of candidate boxes using information about the center coordinates of each of the plurality of unit pixels included in the pixel data, calculates costs of the plurality of candidate boxes using information about the center coordinates and the number of points included in the pixel data, selects a candidate box having a smallest cost among the calculated costs, and extracts an angle at which the selected candidate box is inclined with respect to a vertical axis as a heading angle of an oriented bounding box,
- wherein each of the plurality of candidate boxes includes all of centers of the plurality of unit pixels, and
- wherein the plurality of candidate boxes is inclined at different angles with respect to the vertical axis.
Dependencies are inferred from the claim text.