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US 2025/0095346 A1Published application
Method and Apparatus For Generating 3D Ground Truth
AssigneesHyundai Motor Company, Kia Corporation
InventorsHyun Kyu Lim, Jae Ha Lee
Life of this patent
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Abstract
Disclosed are a method and apparatus for generating a three-dimensional (3D) ground truth (GT). The method includes obtaining 3D GT of a target object by using data obtained by a lidar, obtaining a 2D box for the obtained 3D GT by projecting the obtained 3D GT onto a 2D plane, comparing the 2D box with a box of a 2D GT for the target object obtained by a camera, and generating a final 3D GT for the target object by correcting the obtained 3D GT based on a comparison result.
Claims18
A method comprising:
- obtaining, by a processor and based on sensing information of a sensor, three-dimensional (3D) ground truth (GT) of a target object;
- obtaining, by the processor, a two-dimensional (2D) box for the obtained 3D GT by projecting the obtained 3D GT onto a 2D plane;
- comparing, by the processor, the 2D box with a box of a 2D GT that corresponds to the target object and that is obtained based on sensing information of a camera;
- generating, by the processor and based on the comparing, an adjusted 3D GT for the target object by adjusting the obtained 3D GT;
- and
- outputting a signal indicating the adjusted 3D GT.
3 more elements
An apparatus comprising:
- one or more processors;
- and
- memory storing instructions that, when executed by the one or more processors, cause the apparatus to:
- obtain, based on sensing information of a sensor, three-dimensional (3D) ground truth (GT) of a target object;
- obtain a two-dimensional (2D) box for the obtained 3D GT by projecting the obtained 3D GT onto a 2D plane;
- compare the 2D box with a box of a 2D GT that corresponds to the target object and that is obtained based on sensing information of a camera;
- generate, based on comparing the 2D box with the box of the 2D GT, an adjusted 3D GT for the target object by adjusting the obtained 3D GT;
- and
- output a signal indicating the adjusted 3D GT.
6 more elements
Dependencies are inferred from the claim text.