US 12,333,824 B2
Object detection method and apparatus for vehicle, device, vehicle and medium
Zhixiang Duan, Beijing (CN)
Assigned to Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed by Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed on Aug. 17, 2022, as Appl. No. 17/889,667.
Claims priority of application No. 202210384004.9 (CN), filed on Apr. 12, 2022.
Prior Publication US 2023/0326216 A1, Oct. 12, 2023
Int. Cl. G06V 20/58 (2022.01); G01S 13/89 (2006.01)
CPC G06V 20/58 (2022.01) [G01S 13/89 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An object detection method for a vehicle, comprising:
determining an object event image from event images collected by an event camera in the case of obtaining an original radar point cloud;
obtaining, by projecting the original radar point cloud according to a pre-calibrated extrinsic matrix, relative to the event camera, of a radar, a projected point cloud of the original radar point cloud in a coordinate system of the event camera;
determining an object radar point from the original radar point cloud according to a positional relation between projected points in the projected point cloud and an image contour in the object event image; and
performing object detection according to the object radar point;
wherein determining the object radar point from the original radar point cloud according to the positional relation between the projected points in the projected point cloud and the image contour in the object event image comprises:
determining an object projected point from the projected points according to the positional relation between the projected points in the projected point cloud and the image contour in the object event image; and
taking an original radar point, projected to obtain the object projected point, in the original radar point cloud as the object radar point;
wherein determining the object projected point from the projected points according to the positional relation between the projected points in the projected point cloud and the image contour in the object event image comprises:
taking projected points, falling within the image contour of the object event image, in the projected point cloud as candidate projected points; and
obtaining the object projected point by removing duplicates from the candidate projected point according to coordinates of the candidate projected points.