US 12,293,556 B2
Method and a device for assigning a bounding box to an object
Yu Su, Wuppertal (DE)
Assigned to APTIV TECHNOLOGIES AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Mar. 16, 2022, as Appl. No. 17/655,064.
Claims priority of application No. 21164367 (EP), filed on Mar. 23, 2021.
Prior Publication US 2022/0309760 A1, Sep. 29, 2022
Int. Cl. G06V 10/25 (2022.01); G06T 7/11 (2017.01); G06V 10/44 (2022.01); G06V 10/762 (2022.01); G06V 20/56 (2022.01)
CPC G06V 10/25 (2022.01) [G06T 7/11 (2017.01); G06V 10/457 (2022.01); G06V 10/762 (2022.01); G06V 20/56 (2022.01); G06T 2207/10044 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/07 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A computer implemented method comprising:
acquiring, via a sensor, sensor data related to objects located in an environment of a vehicle;
determining, via a processing unit and based on the sensor data, a respective spatial location and a respective size of a plurality of preliminary bounding boxes such that each preliminary bounding box covers one of the objects at least partly;
estimating a respective velocity of each preliminary bounding box based on the sensor data;
selecting a subset of the plurality of preliminary bounding boxes that are related to a respective one of the objects, the subset selected based on the respective velocity of each of the preliminary bounding boxes; and
assigning a final bounding box to the respective one of the objects by merging the preliminary bounding boxes included in the subset,
wherein:
a direction of the velocity is determined for each preliminary bounding box;
a respective size-modified box is generated for each preliminary bounding box by:
shrinking the preliminary bounding box in the direction of the velocity and in a lateral direction perpendicularly to the direction of the velocity; and
extending the preliminary bounding box in the direction of the velocity based on an absolute value of the velocity estimated for the preliminary bounding box; and
preliminary bounding boxes having overlapping size-modified boxes are selected for the respective subset.