The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 04, 2023
Filed:
Mar. 23, 2021
Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing, CN;
Jinrang Jia, Beijing, CN;
Abstract
The present application discloses a method and an apparatus of obstacle three-dimensional position acquisition for a roadside computing device, and relates to the fields of intelligent transportation, cooperative vehicle infrastructure, and autonomous driving. The method may include: acquiring pixel coordinates of an obstacle in a to-be-processed image; determining coordinates of a bottom surface center point of the obstacle according to the pixel coordinates; acquiring a homography relationship between a ground surface corresponding to the to-be-processed image and a ground surface corresponding to a template image; transforming the coordinates of the bottom surface center point of the obstacle into coordinates on the template image according to the homography relationship; and determining three-dimensional coordinates of the bottom surface center point of the obstacle according to the coordinates obtained by transformation and a ground equation corresponding to the template image. By use of the solution of the present application, implementation costs can be saved, and the accuracy is better.