US 12,283,118 B2
Device and method for detecting 3D object
Hyun Kyu Lim, Seoul (KR); and Young Hyun Kim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Mar. 21, 2022, as Appl. No. 17/699,601.
Claims priority of application No. 10-2021-0144886 (KR), filed on Oct. 27, 2021.
Prior Publication US 2023/0131284 A1, Apr. 27, 2023
Int. Cl. G06V 20/64 (2022.01); G06T 7/70 (2017.01)
CPC G06V 20/64 (2022.01) [G06T 7/70 (2017.01)] 11 Claims
OG exemplary drawing
 
1. An apparatus for detecting a three-dimensional object, the apparatus comprising:
a camera configured for obtaining a 2D image; and
a controller electrically connected to the camera,
wherein the controller is configured to:
extract 2D information and 3D information for at least one object from the 2D image; and
detect 3D object information by utilizing the 2D information and the 3D information,
wherein the 2D information includes 2D center coordinates, a width, and a height of a 2D anchor box,
wherein the 3D information includes 3D center coordinates, a width, a height, a length, and a yaw of a 3D anchor box, and
wherein the controller is further configured to:
generate the 2D anchor box on the 2D image;
generate the 3D anchor box by averaging 3D information of objects fitted to the 2D anchor box;
learn a difference between the 2D anchor box, the 3D anchor box, and object information;
select the 3D information using argmax; and
output the 3D object information by sequentially performing decode, softmax, sort, and non-maximum suppression (NMS) on the selected 3D information.