US 12,148,177 B2
Method and apparatus with vanishing point estimation
Byeongju Lee, Seoul (KR); Seho Shin, Seoul (KR); Sung Hyun Chung, Osan-si (KR); and Jinhyuk Choi, Hwaseong-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Nov. 12, 2021, as Appl. No. 17/525,183.
Claims priority of application No. 10-2021-0069004 (KR), filed on May 28, 2021.
Prior Publication US 2022/0383529 A1, Dec. 1, 2022
Int. Cl. G06T 7/536 (2017.01); G06T 7/73 (2017.01); G06V 20/58 (2022.01)
CPC G06T 7/536 (2017.01) [G06T 7/73 (2017.01); G06V 20/58 (2022.01)] 24 Claims
OG exemplary drawing
 
1. A method with vanishing point estimation, comprising:
detecting objects in an image of a current time point of the objects comprising a target vehicle;
tracking positions of the objects in a world coordinate system by associating the objects with current position coordinates of the objects determined from images of previous time points that precede the current time point;
determining a vanishing point for each of the objects including the target vehicle based on the positions of the objects; and
outputting the vanishing point determined for each of the objects.