Title:
VEHICLE ATTITUDE RECOGNITION METHOD AND RELATED DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/252615
Kind Code:
A1
Abstract:
A vehicle attitude recognition method and apparatus. The method comprises: a feature map representing the probability that each feature point is located in different components of a target vehicle; determining, on the basis of multiple feature points in the feature map, multiple components of the target vehicle included in the feature map; determining, according to positional relationships between the multiple components, a vehicle surface of the target vehicle, and then recognizing, according to the determined vehicle surface, the attitude of the target vehicle, wherein the process of obtaining the vehicle surface comprises multiple iterations, and in the ith iteration, a component recognition result for a target feature point is determined on the basis of the probability that the target feature point is respectively located in different components in the i-1th iteration, with the component recognition result having a first result reliability; determining a vehicle surface recognition result according to positional relationships between multiple components to be determined, with the vehicle surface recognition result having a second result reliability; and obtaining, by means of updating and according to the first result reliability and the second result reliability, the probability that the target feature point is located in different components in the ith iteration.
Inventors:
ZHENG KAI (CN)
LI MENG (CN)
XIONG JINXIN (CN)
LI MENG (CN)
XIONG JINXIN (CN)
Application Number:
PCT/CN2019/091480
Publication Date:
December 24, 2020
Filing Date:
June 17, 2019
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G06K9/62; B60W30/06; B60W30/08; B60W40/02; G01C21/34; G06N3/02
Domestic Patent References:
| WO2019022948A1 | 2019-01-31 |
Foreign References:
| CN109747638A | 2019-05-14 | |||
| CN109466548A | 2019-03-15 | |||
| CN105466438A | 2016-04-06 |
Other References:
See also references of EP 3968221A4
Attorney, Agent or Firm:
SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)
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