Title:
METHOD FOR DETERMINING POINT CLOUD BOUNDING BOX, AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2021/129483
Kind Code:
A1
Abstract:
A method for determining a point cloud bounding box, and an apparatus. Said method comprises: dividing a first plane occupied by a first shape into N regions according to first location information (S51); determining a bounding box using each edge of M edges to serve as a reference edge, altogether obtaining M bounding boxes (S52); determining N sub-loss values, corresponding to the N regions, for each bounding box of the M bounding boxes (S53); determining a loss value corresponding to each bounding box according to the N sub-loss values corresponding to each bounding box (S54); determining the bounding box corresponding to the smallest loss value as a point cloud bounding box (S55). Relative positions between a processing apparatus and an object are taken into consideration during computation of sub-loss values, and as such said bounding box can reduce the influence of self-occlusion on an observation result and improve the accuracy of the observation result for a target object.
Inventors:
LI CHENMING (CN)
LUO LEI (CN)
PENG XUEMING (CN)
LUO LEI (CN)
PENG XUEMING (CN)
Application Number:
PCT/CN2020/136800
Publication Date:
July 01, 2021
Filing Date:
December 16, 2020
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G06K9/00
Domestic Patent References:
| WO2019199083A1 | 2019-10-17 |
Foreign References:
| CN106407947A | 2017-02-15 | |||
| CN110047133A | 2019-07-23 | |||
| CN101477691A | 2009-07-08 | |||
| CN104156988A | 2014-11-19 |
Other References:
WANG, DECHENG ET AL.: "Vehicle Detection Algorithm Based on Convolutional Neural Network and RGB-D Images", LASER & OPTOELECTRONICS PROGRESS, vol. 56, no. 18, 30 September 2019 (2019-09-30), pages 119 - 126, XP055824059
Attorney, Agent or Firm:
TDIP & PARTNERS (CN)
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