US 12,482,184 B2
Bounding box estimation and object detection
Young-Ki Baik, Namyangju-si (KR); Hyun-Mook Cho, Seoul (KR); Duck Hoon Kim, Seoul (KR); Jeong-Kyun Lee, Seoul (KR); Chaeseong Lim, Seoul (KR); and Hee-Seok Lee, Seongnam-si (KR)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Oct. 18, 2022, as Appl. No. 18/047,538.
Application 18/047,538 is a continuation of application No. 16/733,234, filed on Jan. 2, 2020, granted, now 11,508,122.
Claims priority of provisional application 62/788,744, filed on Jan. 4, 2019.
Prior Publication US 2023/0112799 A1, Apr. 13, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/10 (2006.01); G05D 1/00 (2006.01); G05D 1/243 (2024.01); G05D 1/628 (2024.01); G06T 7/70 (2017.01); G06T 7/73 (2017.01)
CPC G06T 17/10 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0251 (2013.01); G05D 1/2435 (2024.01); G05D 1/628 (2024.01); G06T 7/70 (2017.01); G06T 7/75 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01); G06T 2210/12 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
determining a 2D bounding box (2DBB) associated with a vehicle within a camera frame; and
estimating a 3DBB associated with the vehicle based on the 2DBB and spatial relationship between the vehicle and a camera used to capture the camera frame from which the 2DBB is determined, wherein the 3DBB comprises a first box and a second box that together bound an entirety of the vehicle, the first box associated with a first portion of the vehicle and the second box associated with a second portion of the vehicle, wherein estimating the 3DBB comprises:
determining a distance between the vehicle and the camera, wherein determining the distance between the vehicle and the camera comprises:
determining a bottom ray angle from the camera to a bottom edge of the 2DBB; and
calculating the distance to the vehicle from the camera based on a height of the camera and the bottom ray angle;
determining a height of the vehicle;
determining a position and size of the vehicle; and
estimating the 3DBB based on one or more of the distance, height, position, and size of the vehicle.