US 2025/0148801 A1 · APPARATUS AND METHOD FOR CONTROLLING A VEHICLE

Abstract

An apparatus for controlling a vehicle includes a camera configured to obtain a surrounding image of the vehicle and a Lidar configured to obtain point cloud data detected from one or more object positioned around the vehicle. The apparatus also includes a controller configured to generate information about a three dimensional (3D) bounding box and information about a two dimensional (2D) keypoint, corresponding to each object among the one or more objects, based on sensor data obtained from the camera and the Lidar. The controller is further configured to estimate a depth of each keypoint, based on the information about the 3D bounding box and the information about the information about the 2D keypoint, to generate information about a 3D keypoint for each object among the one or more objects.

Claims20

Dependent claims

An apparatus for controlling a vehicle, the apparatus comprising:

a camera configured to obtain a surrounding image of the vehicle;
a Lidar configured to obtain point cloud data detected from one or more objects positioned around the vehicle;
and
a controller configured to
generate information about a three dimensional (3D) bounding box and information about a two dimensional (2D) keypoint, corresponding to each object among the one or more objects, based on sensor data obtained from the camera and the Lidar,
estimate a depth of each keypoint based on the information about the 3D bounding box and the information about the 2D keypoint to generate information about a 3D keypoint for each object among the one or more objects, and
recognize each object among the one or more objects based on the information about the 3D bounding box and the information about the 3D keypoint.

4 more elements

A method for controlling vehicle, the method comprising:

generating information about a 3D bounding box and information about a 2D keypoint, corresponding to each object among one or more objects positioned around the vehicle, based on sensor data obtained from a camera and a Lidar;
estimating a depth of keypoints of each object among the one or more objects, based on the information about the 3D bounding box and the information about the information about the 2D keypoint to generate information about a 3D keypoint for each object among the one or more objects;
and
recognizing each object, among the one or more objects, based on the information about the 3D bounding box and the information about the 3D keypoint.

1 more element

Dependencies are inferred from the claim text.

Apparatus and method for controlling a vehicle

Life of this patent

Apparatus and method for controlling a vehicle

Life of this patent

Abstract

Claims20