US 12,190,599 B2
Image annotation tools
Ying Chan, London (GB); Sina Samangooei, Cambridge (GB); and John Redford, Bristol (GB)
Assigned to Five AI Limited, Cambridge (GB)
Appl. No. 18/011,069
Filed by Five AI Limited, Bristol (GB)
PCT Filed Aug. 20, 2021, PCT No. PCT/EP2021/073128
§ 371(c)(1), (2) Date Dec. 16, 2022,
PCT Pub. No. WO2022/038260, PCT Pub. Date Feb. 24, 2022.
Claims priority of application No. 2013100 (GB), filed on Aug. 21, 2020.
Prior Publication US 2023/0230384 A1, Jul. 20, 2023
Int. Cl. G06V 20/56 (2022.01); G06T 7/70 (2017.01); G06V 10/44 (2022.01); G06V 20/70 (2022.01)
CPC G06V 20/56 (2022.01) [G06T 7/70 (2017.01); G06V 10/44 (2022.01); G06V 20/70 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/20132 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of annotating known objects in road images captured from a sensor-equipped vehicle, the method implemented in an annotation system and comprising:
receiving at the annotation system a road image containing a view of a known object;
receiving ego localization data, as computed in a map frame of reference, via localization applied to sensor data captured by the sensor-equipped vehicle, the ego localization data indicating an image capture pose of the road image in the map frame of reference;
determining, from a predetermined road map, an object location of the known object in the map frame of reference, the predetermined road map representing a road layout the map frame of reference, wherein the known object is one of: a piece of road structure, and an object on or adjacent a road;
computing, in an image plane defined by the image capture pose, an object projection, by projecting an object model of the known object from the object location into the image plane; and
storing, in an image database, image data of the road image, in association with annotation data of the object projection for annotating the image data with a location of the known object in the image plane.