US 12,073,588 B2
Neural network object pose determination
Mostafa Parchami, Ann Arbor, MI (US); Enrique Corona, Canton, MI (US); Kunjan Singh, Ann Arbor, MI (US); and Gaurav Pandey, College Station, TX (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Sep. 24, 2021, as Appl. No. 17/484,159.
Prior Publication US 2023/0145701 A1, May 11, 2023
Int. Cl. G06T 7/80 (2017.01); G06N 3/04 (2023.01); G06T 7/73 (2017.01); G06V 30/194 (2022.01)
CPC G06T 7/80 (2017.01) [G06N 3/04 (2013.01); G06T 7/75 (2017.01); G06V 30/194 (2022.01); G06T 2200/08 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01); G06T 2210/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a camera positioned to obtain an image of an object; and
a computer including a processor and a memory, the memory storing instructions executable by the processor to:
input the image to a neural network that outputs a three-dimensional (3D) bounding box for the object relative to a pixel coordinate system and object parameters;
then determine a center of a bottom face of the 3D bounding box in pixel coordinates, wherein the bottom face of the 3D bounding box is located in a ground plane in the image;
upon determining an intersection between a first line extending through a vanishing point for the camera and the center of the bottom face and a second line extending along a bottom boundary of the image, determine a first distance, relative to the real-world coordinate system, from the center of the bottom face to the intersection;
determine a second distance, relative to the real-world coordinate system, from the intersection to the optical axis of the camera;
based on calibration parameters for the camera that transform pixel coordinates into real-world coordinates and the first and second distances, determine a) a distance from the center of the bottom face of the 3D bounding box to the camera relative to a real-world coordinate system and b) an angle between a line extending from the camera to the center of the bottom face of the 3D bounding box and an optical axis of the camera, wherein the calibration parameters include a camera height relative to the ground plane, a camera focal distance, and a camera tilt relative to the ground plane; and
determine a six degree-of-freedom (6DoF) pose for the object based on the object parameters, the distance, and the angle.