| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and an apparatus for estimating the shape and posture of a three-dimensional object and tracking the same.SOLUTION: A plurality of 3D object models, including various sizes and shapes of a related object, are acquired, aligned, scaled and voxelized so that a 2D height map in a 3D model for training a principal component analysis model is generated. At least one sensor installed in a host vehicle acquires a 3D object image. With the use of the principal component analysis model trained, a processor executes a program instruction to estimate the shape and posture of a detected 3D object until the shape and posture of the detected 3D object matches one principal component analysis model. Output of the shape and posture of the detected 3D object is used for one vehicle control function. |
