公开(公告)号：US20170161565A1

公开(公告)日：2017-06-08

申请号：US15081118

申请日：2016-03-25

Applicant: Texas Instruments Incorporated

Inventor： HRUSHIKESH TUKARAM GARUD ,  MANU MATHEW ,  SOYEB NOORMOHAMMED NAGORI

IPC: G06K9/00 ,  H04N19/513 ,  G06K9/52 ,  G06T7/60 ,  G06T7/20 ,  G06K9/66

CPC classification number: G06K9/00791 ,  G06K9/00758 ,  G06K9/52 ,  G06T7/207 ,  G06T7/223 ,  G06T7/238 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/20016 ,  G06T2207/20032 ,  H04N19/53

Abstract: An image processing system includes a processor and optical flow (OF) determination logic for quantifying relative motion of a feature present in a first frame of video and a second frame of video that provide at least one of temporally and spatially ordered images with respect to the two frames of video. The OF determination logic configures the processor to implement performing OF estimation between the first frame and second frame using a pyramidal block matching (PBM) method to generate an initial optical flow (OF) estimate at a base pyramid level having integer pixel resolution, and refining the initial OF estimate using at least one pass of a modified Lucas-Kanade (LK) method to provide a revised OF estimate having fractional pixel resolution.

公开(公告)号：US20170186169A1

公开(公告)日：2017-06-29

申请号：US15235516

申请日：2016-08-12

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： PRASHANTH RAMANATHPU VISWANATH ,  SOYEB NAGORI ,  MANU MATHEW

IPC: G06T7/00 ,  B60R11/04 ,  G06K9/00 ,  G06T7/20 ,  G06T1/60

CPC classification number: G06K9/00791 ,  G06K9/4604 ,  G06T7/269 ,  G06T7/579 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: A vehicular structure from motion (SfM) system can store a number of image frames acquired from a vehicle-mounted camera in a frame stack according to a frame stack update logic. The SfM system can detect feature points, generate flow tracks, and compute depth values based on the image frames, the depth values to aid control of the vehicle. The frame stack update logic can select a frame to discard from the stack when a new frame is added to the stack, and can be changed from a first in, first out (FIFO) logic to last in, first out (LIFO) logic upon a determination that the vehicle is stationary. An optical flow tracks logic can also be modified based on the determination. The determination can be made based on a dual threshold comparison to insure robust SfM system performance.