A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive an image frame from a camera, the image frame showing a vehicle, determine a two-dimensional bounding box around the vehicle in the image frame, determine a first three-dimensional point that is an intersection between (a) a ray extending from the camera through a center of the two-dimensional bounding box and (b) a first plane that is parallel to a ground plane, determine a second three-dimensional point on the vehicle, and determine an orientation of the vehicle based on the first three-dimensional point, the second three-dimensional point, and the ground plane. The ground plane represents a surface on which the vehicle sits.
Vehicle pose management
2025-02-18
Patent
Electronic Resource
English