Method and system for detection of road objects using 2d image sign sightings

A method for detecting an object comprising:

• obtaining, using a 2D sensor, 2D sighting data of the object;
• determining position candidate data for the object based on (i) 2D centroid data associated with the 2D sighting data of the object and (ii) 3D centroid data determined using projection data of one or more skew lines associated with the 2D centroid data;
• filtering the position candidate data based on:
• (i) offset data associated with vector offset between the 2D centroid data and the 3D centroid data, (ii) postprocessing data, and (iii) scaling factor data associated with the position candidate data;
• and
• outputting detection data for the object based on the filtered position candidate data.

A non-transitory computer-readable medium having stored thereon computer-executable instructions, which when executed by a computer, cause the computer to execute operations, the operations comprising:

• obtaining, using a 2D sensor, 2D sighting data of the object;
• determining position candidate data for the object based on (i) 2D centroid data associated with the 2D sighting data of the object and (ii) 3D centroid data determined using projection data of one or more skew lines associated with the 2D centroid data;
• filtering the position candidate data based on:
• (i) offset data associated with vector offset between the 2D centroid data and the 3D centroid data, (ii) postprocessing data, and (iii) scaling factor data associated with the position candidate data;
• and
• outputting detection data for the object based on the filtered position candidate data.