Patent ID: 11867801
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. A method for training a vehicle information detection model, comprising:
obtaining target information of a plurality of vehicles based on radar point cloud data of the plurality of vehicles; and
training based on the target information of the plurality of vehicles and images of the plurality of vehicles to obtain a vehicle detection model, wherein the vehicle detection model is used for obtaining a detection result for target information of a target vehicle based on an image of the target vehicle;
wherein the obtaining target information of the plurality of vehicles based on the radar point cloud data of the plurality of vehicles comprises:
obtaining three-dimensional detection boxes of the plurality of vehicles in a radar coordinate system based on the radar point cloud data of the plurality of vehicles;
calculating coordinates of projection points of respective vertexes and bottom surface center points of the three-dimensional detection boxes of the plurality of vehicles in the images according to the three-dimensional detection boxes of the plurality of vehicles in the radar coordinate system, a pre-configured radar parameter and a camera parameter;
obtaining two-dimensional detection boxes of the plurality of vehicles according to the coordinates of the projection points of the respective vertexes of the three-dimensional detection boxes of the plurality of vehicles in the images; and
obtaining offsets of the bottom surface center points of the plurality of vehicles according to the coordinates of the projection points of the bottom surface center points of the three-dimensional detection boxes of the plurality of vehicles in the images and the two-dimensional detection boxes of the plurality of vehicles.