US 12,394,156 B2
Object positioning method, electronic apparatus, and computer-readable storage medium
Sheng Tao, Nanjing (CN); Chunli Li, Nanjing (CN); Hongfeng Zhao, Nanjing (CN); and Bin Xiao, Nanjing (CN)
Assigned to NANJING SEMIDRIVE TECHNOLOGY LTD., Nanjing (CN)
Filed by Nanjing SemiDrive Technology LTD., Nanjing (CN)
Filed on Jan. 24, 2023, as Appl. No. 18/158,962.
Claims priority of application No. 202210863847.7 (CN), filed on Jul. 21, 2022.
Prior Publication US 2024/0029362 A1, Jan. 25, 2024
Int. Cl. G06T 19/00 (2011.01); G06T 7/20 (2017.01)
CPC G06T 19/003 (2013.01) [G06T 7/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An object positioning method comprising:
obtaining an environment image collected by a target object through a camera of the target object and a camera parameter of collecting the environment image;
determining candidate position information of the target object and a virtual camera parameter, the virtual camera parameter and the camera parameter of the environmental image having a first correspondence;
rendering, based on a predetermined three-dimensional model, the candidate position information, and the virtual camera parameter, to generate a rendered image corresponding to the candidate position information, the three-dimensional model and a real space having a second correspondence; and
determining current moment position information of the target object based on the environment image, the rendered image, and the candidate position information, including:
comparing the environmental image and the rendered image; and
in response to the environment image and the rendered image being determined to satisfy a predetermined condition, determining the candidate position information to be the current moment position information of the target object.