US 11,670,087 B2
Training data generating method for image processing, image processing method, and devices thereof
Won-ju Lee, Suwon-si (KR); Se-ho Shin, Suwon-si (KR); Dong-wook Lee, Hwaseong-si (KR); and Dae-hyun Ji, Hwaseong-si (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Jul. 17, 2019, as Appl. No. 16/514,661.
Claims priority of application No. 10-2018-0109024 (KR), filed on Sep. 12, 2018.
Prior Publication US 2020/0082182 A1, Mar. 12, 2020
Int. Cl. G06V 20/56 (2022.01); G06T 7/536 (2017.01); G06V 20/00 (2022.01); G06V 20/58 (2022.01); G06F 18/214 (2023.01); G06N 3/045 (2023.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/44 (2022.01)
CPC G06V 20/56 (2022.01) [G06F 18/2148 (2023.01); G06N 3/045 (2023.01); G06T 7/536 (2017.01); G06V 10/454 (2022.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 20/39 (2022.01); G06V 20/584 (2022.01); G06T 2207/10004 (2013.01); G06V 20/58 (2022.01)] 18 Claims
OG exemplary drawing
 
1. An image processing method for controlling a vehicle on a road, the image processing method comprising:
detecting an object within a driving image, captured by a capturing device mounted on the vehicle;
obtaining an altitude difference between the vehicle and the object, the altitude difference comprising pitch information of the vehicle and vanishing line information in the driving image;
determining world domain coordinates of the object by a neural network processing of image domain coordinates of the object in the driving image and the altitude difference; and
controlling the vehicle on the road with respect to the object based on the world domain coordinates of the object,
wherein the image processing method further comprises performing scaling normalization on the image domain coordinates of the object in the driving image according to a log function in which a slope value of a scaling factor increases toward a vanishing point in the driving image and is reduced as a distance from the vanishing point increases.