Method of estimating three-dimensional coordinate value for each pixel of two-dimensional image, and method of estimating autonomous driving information using the same
AssigneeMobiltech
InventorsJae Seung KIM, Do Yeong IM
Life of this patent
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Abstract
Proposed are a method of estimating a three-dimensional coordinate value for each pixel of a two-dimensional image, and a method of estimating autonomous driving information using the same, and more specifically, a method that can efficiently acquire information needed for autonomous driving using a mono camera. This method is able to acquire information having sufficient reliability in real-time without using expensive equipment such as a high-precision GPS receiver, a stereo camera or the like required for autonomous driving.
Claims12
A method of estimating a three-dimensional coordinate value for each pixel of a two-dimensional image, the method comprising:
- a camera height input step of receiving height of a mono camera installed in parallel to ground;
- a reference value setting step of setting at least one among a vertical viewing angle, an azimuth angle, and a resolution of the mono camera;
- and
- a pixel coordinate estimation step of estimating a three-dimensional coordinate value for at least some of pixels with respect to ground of the two-dimensional image captured by the mono camera, based on the inputted height of the mono camera and a set reference value.
A method of estimating autonomous driving information using a method of estimating a three-dimensional coordinate value for each pixel of a two-dimensional image, the method comprising:
- a two-dimensional image acquisition step of acquiring the two-dimensional image captured by a mono camera;
- a coordinate system matching step of matching each pixel of the two-dimensional image and a three-dimensional coordinate system;
- and
- an object distance estimation step of estimating a distance to an object included in the two-dimensional image.
A method of estimating autonomous driving information using a method of estimating a three-dimensional coordinate value for each pixel of a two-dimensional image, the method comprising:
- a two-dimensional image acquisition step of acquiring the two-dimensional image captured by a mono camera;
- a coordinate system matching step of matching each pixel of the two-dimensional image and a three-dimensional coordinate system;
- and
- a semantic information location estimation step of estimating a three-dimensional coordinate value of semantic information for autonomous driving included in the ground of the two-dimensional image.
Dependencies are inferred from the claim text.