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3D position estimation of objects from a monocular camera using a set of known 3D points on an underlying surface

  • US 10,198,641 B2
  • Filed: 12/15/2016
  • Issued: 02/05/2019
  • Est. Priority Date: 07/29/2013
  • Status: Active Grant
First Claim
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1. A computer-implemented method, comprising:

  • receiving a two-dimensional (2D) image of a portion of the environment from a camera on an autonomous vehicle, wherein the image contains an object;

    retrieving previously stored three-dimensional (3D) locations of a plurality of reference points of the environment, wherein the 3D locations of the plurality of reference points that were previously stored comprises a road in the environment;

    projecting the plurality of reference points into the 2D image based on the previously stored 3D locations of the plurality of reference points and a location of the camera on the autonomous vehicle;

    selecting reference points from the plurality of projected reference points such that the selected reference points form a polygon that surrounds the object in the 2D image;

    determining an intersection point of a ray directed toward the object and a 3D polygon formed by the previously stored 3D locations of the selected reference points;

    determining a location of the object in the environment based on the determined intersection point, wherein the object is a portion of a different vehicle, wherein the method further comprises determining a location of the different vehicle based on the location of the object in the environment; and

    providing instructions to control the autonomous vehicle based on the determined location of the object in the environment.

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