# US 2025/0095346 A1 · Method and Apparatus For Generating 3D Ground Truth > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0095346 A1 - Document ID: US20250095346A1 - Status: Published application - Kind: A1 - Application number: 18/648,879 - Filed: 2024-04-29 - Published: 2025-03-20 - Earliest claimed: 2023-09-15 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Hyun Kyu Lim; Jae Ha Lee - Web page: https://patentgrep.com/patent/US20250095346A1 ## CPC - G06V 10/803: {of input or preprocessed data} - G06T 7/74: {involving reference images or patches} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, wherein the generating of the adjusted 3D GT comprises minimizing a difference between vertices of the 2D box and vertices of the box of the 2D GT. ### Claim 3 (depends on 1) The method of claim 1, wherein the obtaining of the 2D box comprises obtaining a plurality of 3D GTs by reflecting a preset initial error value in the obtained 3D GT, and obtaining a 2D box for each of the plurality of 3D GTs, and wherein the generating of the adjusted 3D GT comprises generating, as the adjusted 3D GT, one 3D GT in which a difference between vertices of one of the 2D boxes for the plurality of 3D GTs and vertices of the box of the 2D GT is minimized. ### Claim 4 (depends on 3) The method of claim 3, wherein the obtaining of the 2D box comprises obtaining a plurality of other 3D GTs by reflecting a first error value to the one 3D GT after changing the initial error value to the first error value that is smaller than the initial error value based on the one 3D GT, and obtaining the 2D boxes for the plurality of other 3D GTs, and wherein the generating of the adjusted 3D GT comprises generating, as the adjusted 3D GT, another 3D GT in which differences between vertices of one of the 2D boxes for the plurality of other 3D GTs and the vertices of the box of the 2D GT is minimized. ### Claim 5 (depends on 4) The method of claim 4, wherein the obtaining of the 2D box and the generating of the adjusted 3D GT are performed a specified number of iterations to generate the adjusted 3D GT. ### Claim 6 (depends on 4) The method of claim 4, wherein at least one of the error value or the first error value is determined initial based on a distance from the target object. ### Claim 7 (depends on 1) The method of claim 1, wherein the obtaining of the 2D box comprises obtaining the 2D box by projecting the obtained 3D GT onto the 2D plane in a form of a cuboid. ### Claim 8 (depends on 7) The method of claim 7, wherein the obtaining of the 2D box comprises obtaining the 2D box by changing the obtained 3D GT into coordinate information in a 2D coordinate system for eight vertices of the cuboid and projecting the coordinate information for the eight vertices onto an image. ### Claim 9 (depends on 1) The method of claim 1, further comprising: determining, based on the adjusted 3D GT, a location of the target object; and generating, based on the location of the target object, a signal for a vehicle. ### Claim 10 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. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the instructions, when executed by the one or r more processors, cause the apparatus to generate the adjusted 3D GT by minimizing a difference between vertices of the 2D box and vertices of the box of the 2D GT. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein the instructions, when executed by the one or more processors, cause the apparatus to: obtain a plurality of 3D GTs by reflecting a preset initial error value in the obtained 3D GT; obtain a 2D box for each of the plurality of 3D GTs; and generate, as the adjusted 3D GT, one 3D GT in which a difference between vertices of one of the 2D boxes for the plurality of 3D GTs and vertices of the box of the 2D GT is minimized. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the instructions, when executed by the one or more processors, cause the apparatus to: obtain a plurality of other 3D GTs by reflecting a first error value to the one 3D GT after changing the initial error value to the first error value that is smaller than the initial error value based on the one 3D GT; obtain the 2D boxes for the plurality of other 3D GTs; and generate, as the adjusted 3D GT, another 3D GT in which differences between vertices of one of the 2D boxes for the plurality of other 3D GTs and the vertices of the box of the 2D GT is minimized. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the instructions, when executed by the one or more processors, cause the apparatus to obtain the 2D box and generate the adjusted 3D GT a specified number of iterations to generate the adjusted 3D GT. ### Claim 15 (depends on 13) The apparatus of claim 13, wherein at least one of the initial error value or the first error value is determined based on a distance from the target object. ### Claim 16 (depends on 10) The apparatus of claim 10, wherein the instructions, when executed by the one or more processors, cause the apparatus to obtain the 2D box by projecting the obtained 3D GT onto the 2D plane in a form of a cuboid. ### Claim 17 (depends on 16) The apparatus of claim 16, wherein the instructions, when executed by the one or more processors, cause the apparatus to obtain the 2D box by changing the obtained 3D GT into coordinate information in a 2D coordinate system for eight vertices of the cuboid and projecting the coordinate information for the eight vertices onto an image. ### Claim 18 (depends on 10) The apparatus of claim 10, wherein the instructions, when executed by the one or more processors, cause the apparatus to: determine, based on the adjusted 3D GT, a location of the target object; and generate, based on the location of the target object, a signal for a vehicle.