US 12,229,985 B2
Vehicle pose management
Shubham Shrivastava, Santa Clara, CA (US); Bhushan Ghadge, Sunnyvale, CA (US); and Punarjay Chakravarty, Campbell, CA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Aug. 9, 2022, as Appl. No. 17/818,447.
Prior Publication US 2024/0054673 A1, Feb. 15, 2024
Int. Cl. G06T 7/73 (2017.01); G06N 3/0464 (2023.01); G06T 7/269 (2017.01); G06V 10/25 (2022.01); B62D 65/02 (2006.01)
CPC G06T 7/73 (2017.01) [B62D 65/02 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
receive an image frame from a camera, the image frame showing a vehicle;
determine a two-dimensional bounding box around the vehicle in the image frame;
determine a first three-dimensional point that is an intersection between (a) a ray extending from the camera through a center of the two-dimensional bounding box and (b) a first plane that is parallel to a ground plane, the ground plane representing a surface on which the vehicle sits;
determine a second three-dimensional point on the vehicle; and
determine an orientation of the vehicle based on the first three-dimensional point, the second three-dimensional point, and the ground plane.