Object's i.e. vehicle, spatial position and orientation estimating method for driver assistance system, involves determining error margin based on polar coordinates, and adjusting spatial position and orientation of object based on margin

摘要

The method involves describing an object (O) i.e. vehicle, based on multiple three-dimensional points (P1-P3, Pn) of a Cartesian space coordinate system, and transforming space coordinates of the three-dimensional points, which represent the object, into a polar coordinates. An error margin is determined based on the polar coordinates, and spatial position and orientation of the object are adjusted based on the error margin. The space coordinates of each three-dimensional point is projected on XY-plane of the space coordinate system.