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 |
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.
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