Device and a method for representing the yaw orientation of a vehicle visible on an image

Patent metadata

Field	Value
Publication number	US-12536672-B2
Application number	US-202018039807-A
Country	US
Kind code	B2
Filing date	Dec 3, 2020
Priority date	Dec 3, 2020
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

A device and a method for representing the yaw orientation of a vehicle visible on an image, including: obtaining the position in the image of a rectangular bounding box surrounding the vehicle, obtaining the position of a vertical split line of the bounding box configured to be placed at a corner of the vehicle separating a first portion of the vehicle from a second portion of the vehicle, the first and second portion being either the front, the back, or a side of the vehicle, determining a signed horizontal shift of a horizontal position, associated with the vertical split line, with respect to a horizontal reference position, associated to the bounding box, normalizing the signed horizontal shift to obtain a value θ to be used in the representation of the pose of the vehicle.

First claim

The invention claimed is:

1 . A method for representing the yaw orientation of a vehicle visible on an image comprising:
obtaining the position in the image of a rectangular bounding box surrounding the vehicle, obtaining the position of a vertical split line of the bounding box configured to be placed at a corner of the vehicle separating a first portion of the vehicle from a second portion of the vehicle, the first and second portions being either the front, the back, or a side of the vehicle, and at least one of the first and second portion is visible on the image, wherein the position associated with the vertical split line is the horizontal middle of either the first or the second portion, determining a signed horizontal shift of a horizontal position, associated with the vertical split line, with respect to a horizontal reference position, associated to the bounding box, wherein the horizontal reference position is the horizontal middle of the bounding box or one lateral side of the bounding box; and normalizing the signed horizontal shift to obtain a value θ to be used in the representation of the yaw orientation of the vehicle.

2 . The method of claim 1 , wherein the value θ to be used in the representation of the pose of the vehicle is calculated as:
θ= d/W

wherein d is the signed shift and W is a normalizing factor associated with the bounding box.

3 . The method of claim 2 , wherein W is the width of the bounding box.

4 . The method according to claim 1 , comprising determining a pose of the vehicle using the representation of the yaw orientation.

5 . The method of claim 1 , further comprising determining a yaw angle of the vehicle using the value θ.

6 . The method of claim 5 , wherein determining a yaw angle comprises using a given aspect ratio associated with the vehicle.

7 . The method of claim 6 , wherein determining the yaw angle comprises determining a function approximating the yaw angle taking as input the value θ and the aspect ratio associated with the vehicle, the function being:
a plane fitted on a set of given points associating a value of yaw angle with a value θ and an aspect ratio, or
constructed heuristically.

8 . A method for tracking the yaw orientation of a vehicle in a sequence of images comprising determining the value θ obtained by the method according to claim 1 for each image of the sequence of image.

9 . A device for representing the yaw orientation of a vehicle visible on an image comprising:
a module for obtaining the position in the image of a rectangular bounding box surrounding the vehicle, a module for obtaining the position of a vertical split line of the bounding box configured to be placed at a corner of the vehicle separating a first portion of the vehicle from a second portion of the vehicle, the first and second portion being either the front, the back, or a side of the vehicle, wherein the position associated with the vertical split line is the horizontal middle of either the first or the second portion, a module for determining a signed horizontal shift of a horizontal position, associated with the vertical split line, with respect to a horizontal reference position, associated to the bounding box, wherein the horizontal reference position is the horizontal middle of the bounding box or one lateral side of the bounding box; and a module for normalizing the signed horizontal shift to obtain a value θ to be used in the representation of the yaw orientation of the vehicle.

10 . A vehicle comprising a device for representing the yaw orientation of a vehicle visible on an image the vehicle comprising at least one processor configured for:
obtaining the position in the image of a rectangular bounding box surrounding the vehicle, obtaining the position of a vertical split line of the bounding box configured to be placed at a corner of the vehicle separating a first portion of the vehicle from a second portion of the vehicle, the first and second portion being either the front, the back, or a side of the vehicle, wherein the position associated with the vertical split line is the horizontal middle of either the first or the second portion, determining a signed horizontal shift of a horizontal position, associated with the vertical split line, with respect to a horizontal reference position, associated to the bounding box, wherein the horizontal reference position is the horizontal middle of the bounding box or one lateral side of the bounding box; and normalizing the signed horizontal shift to obtain a value θ to be used in the representation of the yaw orientation of the vehicle.

11 . A non-transitory computer-readable medium having recorded thereon a computer program including instructions that when executed by a processor cause the processor represent the yaw orientation of a vehicle visible on an image comprising:
obtaining the position in the image of a rectangular bounding box surrounding the vehicle, obtaining the position of a vertical split line of the bounding box configured to be placed at a corner of the vehicle separating a first portion of the vehicle from a second portion of the vehicle, the first and second portions being either the front, the back, or a side of the vehicle, and at least one of the first and second portion is visible on the image, wherein the position associated with the vertical split line is the horizontal middle of either the first or the second portion, determining a signed horizontal shift of a horizontal position, associated with the vertical split line, with respect to a horizontal reference position, associated to the bounding box, wherein the horizontal reference position is the horizontal middle of the bounding box or one lateral side of the bounding box; and normalizing the signed horizontal shift to obtain a value θ to be used in the representation of the yaw orientation of the vehicle.

Assignees

• Toyota Motor Europe
• Toyota Motor Co Ltd

Inventors

• Chumerin Nikolay

Classifications

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/74

  involving reference images or patches · CPC title

• G06T7/248 Primary

  involving reference images or patches · CPC title

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title