Method and apparatus for obtaining 3D information of vehicle
View Patent ↗A method and an apparatus for obtaining 3D information of a vehicle are provided. The method includes: first determining a body boundary line of a first vehicle, and then determining an observation angle and/or an orientation angle of the first vehicle based on the body boundary line.
1 . A method for obtaining three dimensional (3D) information of a vehicle, comprising:
obtaining a body boundary line of a first vehicle, wherein the body boundary line comprises a boundary line at a boundary between a body and a head of the first vehicle, or a boundary line at a boundary between the body and a tail of the first vehicle; and
determining at least one of an observation angle of the first vehicle or an orientation angle of the first vehicle based on the body boundary line, wherein the determining the observation angle of the first vehicle based on the body boundary line comprises:
determining, based on the body boundary line and a width of a preset two dimensional (2D) bounding frame, a projection of a body length of the first vehicle or a projection of a body width of the first vehicle on a plane perpendicular to an optical center direction; and
determining the observation angle of the first vehicle based on the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and a known value representing a preset actual length-to-width ratio of the first vehicle, wherein the observation angle of the first vehicle, the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the known value representing the preset actual length-to-width ratio of the first vehicle meet a preset condition; and wherein
the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
θ
=
arc
tan
(
ω
-
a
′
μ
a
′
)
with the observation angle of the first vehicle, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
θ
=
arc
tan
(
b
μ
(
ω
-
b
)
)
with the observation angle of the first vehicle, wherein ω is the width of the preset 2D bounding box, μ is the preset actual length-to-width ratio of the first vehicle, α′ is the projection of the body width of the first vehicle in a direction parallel to an image plane, b is the projection of the body length of the first vehicle in the direction parallel to the image plane, and θ is the observation angle.
2 . The method according to claim 1 , wherein the determining the orientation angle of the first vehicle based on the body boundary line comprises:
determining, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body length of the first vehicle in the direction parallel to the image plane;
determining, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body width of the first vehicle in the direction parallel to the image plane; and
determining the orientation angle of the first vehicle based on the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, respective angles between two edges of the preset 2D bounding box and an optical center, and the preset actual length-to-width ratio of the first vehicle.
3 . The method according to claim 2 , wherein the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the respective angles between the two edges of the preset 2D bounding box and the optical center, and the preset actual length-to-width ratio of the first vehicle meet
φ
=
arc
tan
(
μ
b
1
-
a
tan
β
a
+
μ
b
1
tan
α
)
with the orientation angle of the first vehicle, wherein
a is the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, b1 is the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, α is an angle between a left edge of the 2D bounding box and the optical center, β is an angle between a right edge of the 2D bounding box and the optical center, and φ is the orientation angle of the first vehicle, and μ is the preset actual length-to-width ratio of the first vehicle.
4 . The method according to claim 1 , wherein the method further comprises:
determining, based on the orientation angle of the first vehicle and the body boundary line, 3D bounding box information corresponding to the first vehicle.
5 . An apparatus, comprising:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to cause the apparatus to:
obtain a body boundary line of a first vehicle, wherein the body boundary line comprises a boundary line at a boundary between a body and a head of the first vehicle, or a boundary line at a boundary between the body and a tail of the first vehicle; and
determine at least one of an observation angle of the first vehicle or an orientation angle of the first vehicle based on the body boundary line, wherein the determine the observation angle of the first vehicle based on the body boundary line comprises:
determine, based on the body boundary line and a width of a preset two dimensional (2D) bounding frame, a projection of a body length of the first vehicle or a projection of a body width of the first vehicle on a plane perpendicular to an optical center direction; and
determine the observation angle of the first vehicle based on the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and a known value representing a preset actual length-to-width ratio of the first vehicle, wherein the observation angle of the first vehicle, the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the known value representing the preset actual length-to-width ratio of the first vehicle meet a preset condition; and wherein
the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
θ
=
arc
tan
(
ω
-
a
′
μ
a
′
)
with the observation angle of the first vehicle, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
θ
=
arc
tan
(
b
μ
(
ω
-
b
)
)
with the observation angle of the first vehicle, wherein ω is the width of the preset 2D bounding box, μ is the preset actual length-to-width ratio of the first vehicle, a′ is the projection of the body width of the first vehicle in a direction parallel to an image plane, b is the projection of the body length of the first vehicle in the direction parallel to the image plane, and θ is the observation angle.
6 . The apparatus according to claim 5 , wherein the determine the orientation angle of the first vehicle based on the body boundary line comprises:
determine, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body length of the first vehicle in the direction parallel to the image plane;
determine, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body width of the first vehicle in the direction parallel to the image plane; and
determine the orientation angle of the first vehicle based on the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, respective angles between two edges of the preset 2D bounding box and an optical center, and the preset actual length-to-width ratio of the first vehicle.
7 . The apparatus according to claim 6 , wherein the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the respective angles between the two edges of the preset 2D bounding box and the optical center, and the preset actual length-to-width ratio of the first vehicle meet
φ
=
arc
tan
(
μ
b
1
-
a
tan
β
a
+
μ
b
1
tan
α
)
with the orientation angle of the first vehicle, wherein
a is the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, b1 is the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, α is an angle between a left edge of the 2D bounding box and the optical center, β is an angle between a right edge of the 2D bounding box and the optical center, and φ is the orientation angle of the first vehicle, and μ is the preset actual length-to-width ratio of the first vehicle.
8 . The apparatus according to claim 5 , wherein the programming instructions, when executed by the at least one processor, cause the apparatus to:
determine, based on the orientation angle of the first vehicle and the body boundary line, 3D bounding box information corresponding to the first vehicle.
9 . One or more non-transitory computer-readable media storing computer instructions, that when executed by one or more processors, cause a computing device to perform operations comprising:
obtaining a body boundary line of a first vehicle, wherein the body boundary line comprises a boundary line at a boundary between a body and a head of the first vehicle, or a boundary line at a boundary between the body and a tail of the first vehicle; and
determining at least one of an observation angle of the first vehicle or an orientation angle of the first vehicle based on the body boundary line, wherein the determining the observation angle of the first vehicle based on the body boundary line comprises:
determining, based on the body boundary line and a width of a preset two dimensional (2D) bounding frame, a projection of a body length of the first vehicle or a projection of a body width of the first vehicle on a plane perpendicular to an optical center direction; and
determining the observation angle of the first vehicle based on the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and a known value representing a preset actual length-to-width ratio of the first vehicle, wherein the observation angle of the first vehicle, the projection of the body length of the first vehicle or the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the known value representing the preset actual length-to-width ratio of the first vehicle meet a preset condition; and wherein
the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
φ
=
arc
tan
(
ω
-
a
′
μ
a
′
)
with the observation angle of the first vehicle, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the width of the preset 2D bounding box, and the preset actual length-to-width ratio of the first vehicle meet
θ
=
arc
tan
(
b
μ
(
ω
-
b
)
)
with the observation angle of the first vehicle, wherein ω is the width of the preset 2D bounding box, μ is the preset actual length-to-width ratio of the first vehicle, a′ is the projection of the body width of the first vehicle in a direction parallel to an image plane, b is the projection of the body length of the first vehicle in the direction parallel to the image plane, and θ is the observation angle.
10 . The one or more non-transitory computer-readable media according to claim 9 , wherein the determining the orientation angle of the first vehicle based on the body boundary line comprises:
determining, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body length of the first vehicle in the direction parallel to the image plane;
determining, based on the body boundary line and the width of the preset 2D bounding box, the projection of the body width of the first vehicle in the direction parallel to the image plane; and
determining the orientation angle of the first vehicle based on the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, respective angles between two edges of the preset 2D bounding box and an optical center, and the preset actual length-to-width ratio of the first vehicle.
11 . The one or more non-transitory computer-readable media according to claim 10 , wherein the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, the respective angles between the two edges of the preset 2D bounding box and the optical center, and the preset actual length-to-width ratio of the first vehicle meet
φ
=
arctan
(
μ
b
1
-
a
tan
β
a
+
μ
b
1
tan
α
)
with the orientation angle of the first vehicle, wherein
a is the projection of the body length of the first vehicle on the plane perpendicular to the optical center direction, b1 is the projection of the body width of the first vehicle on the plane perpendicular to the optical center direction, α is an angle between a left edge of the 2D bounding box and the optical center, β is an angle between a right edge of the 2D bounding box and the optical center, and φ is the orientation angle of the first vehicle, and μ is the preset actual length-to-width ratio of the first vehicle.
12 . The one or more non-transitory computer-readable media according to claim 9 , wherein the operations comprise: determining, based on the orientation angle of the first vehicle and the body boundary line, 3D bounding box information corresponding to the first vehicle.