公开(公告)号：US20200334857A1

公开(公告)日：2020-10-22

申请号：US16854590

申请日：2020-04-21

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Hrushikesh Tukaram GARUD ,  Deepak PODDAR ,  Soyeb Noormohammed NAGORI

IPC: G06T7/73 ,  G01C21/30 ,  B60R1/00 ,  G06K9/46

Abstract: Techniques for localizing a vehicle are provided that include obtaining an image from a camera, identifying a set of image feature points in the image, obtaining an approximate location of the vehicle, determining a set of sub-volumes (SVs) of a map to access based on the approximate location, obtaining map feature points and associated map feature descriptors associated with the set of SVs, determining a set of candidate matches between the set of image feature points and the obtained map feature points, determining a set of potential poses of the camera from candidate matches from the set of candidate matches and an associated reprojection error estimated for remaining points to select a first pose of the set of potential poses having a lowest associated reprojection error, determining the first pose is within a threshold value of an expected vehicle location, and outputting a vehicle location based on the first pose.

公开(公告)号：US20190295262A1

公开(公告)日：2019-09-26

申请号：US16157861

申请日：2018-10-11

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Soyeb Noormohammed NAGORI ,  Manu MATHEW ,  Kumar DESAPPAN ,  Pramod Kumar SWAMI

IPC: G06T7/20 ,  G06T7/70

Abstract: A method for video object detection includes detecting an object in a first video frame, and selecting a first interest point and a second interest point of the object. The first interest point is in a first region of interest located at a first corner of a box surrounding the object. The second interest point is in a second region of interest located at a second corner of the box. The second corner is diagonally opposite the first corner. A first optical flow of the first interest point and a second optical flow of the second interest point are determined. A location of the object in a second video frame is estimated by determining, in the second video frame, a location of the first interest point based on the first optical flow and a location of the second interest point based on the second optical flow.

公开(公告)号：US20220392108A1

公开(公告)日：2022-12-08

申请号：US17887580

申请日：2022-08-15

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Hrushikesh Tukaram GARUD ,  Deepak PODDAR ,  Soyeb Noormohammed NAGORI

IPC: G06T7/73 ,  G01C21/30 ,  B60R1/00 ,  G06V10/46

Abstract: Techniques for localizing a vehicle include obtaining an image from a camera, identifying a set of image feature points in the image, obtaining an approximate location of the vehicle, determining a set of sub-volumes (SVs) of a map to access based on the approximate location, obtaining map feature points and associated map feature descriptors associated with the set of SVs, determining a set of candidate matches between the set of image feature points and the obtained map feature points, determining a set of potential poses of the camera from candidate matches from the set of candidate matches and an associated reprojection error estimated for remaining points to select a first pose of the set of potential poses having a lowest associated reprojection error, determining the first pose is within a threshold value of an expected vehicle location, and outputting a vehicle location based on the first pose.

公开(公告)号：US20210056710A1

公开(公告)日：2021-02-25

申请号：US17093681

申请日：2020-11-10

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Soyeb Noormohammed NAGORI ,  Manu MATHEW ,  Kumar DESAPPAN ,  Pramod Kumar SWAMI

IPC: G06T7/20 ,  G06T7/70

Abstract: A method for video object detection includes detecting an object in a first video frame, and selecting a first interest point and a second interest point of the object. The first interest point is in a first region of interest located at a first corner of a box surrounding the object. The second interest point is in a second region of interest located at a second corner of the box. The second corner is diagonally opposite the first corner. A first optical flow of the first interest point and a second optical flow of the second interest point are determined. A location of the object in a second video frame is estimated by determining, in the second video frame, a location of the first interest point based on the first optical flow and a location of the second interest point based on the second optical flow.

公开(公告)号：US20150365696A1

公开(公告)日：2015-12-17

申请号：US14737904

申请日：2015-06-12

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Hrushikesh Tukaram GARUD ,  Soyeb Noormohammed NAGORI ,  Dipan Kumar MANDAL

IPC: H04N19/53 ,  H04N19/523 ,  H04N19/56 ,  H04N19/20 ,  H04N19/513

CPC classification number: H04N19/53 ,  H04N19/56

Abstract: An image processing system includes a processor and optical flow determination logic. The optical flow determination logic is to quantify relative motion of a feature present in a first frame of video and a second frame of video with respect to the two frames of video. The optical flow determination logic configures the processor to convert each of the frames of video into a hierarchical image pyramid. The image pyramid comprises a plurality of image levels. Image resolution is reduced at each higher one of the image levels. For each image level and for each pixel in the first frame, the processor is configured to establish an initial estimate of a location of the pixel in the second frame and to apply a plurality of sequential searches, starting from the initial estimate, that establish refined estimates of the location of the pixel in the second frame.

Abstract translation: 图像处理系统包括处理器和光流确定逻辑。 光流确定逻辑是量化相对于两帧视频的视频第一帧和第二帧视频中存在的特征的相对运动。 光流确定逻辑配置处理器以将每个视频帧转换为分层图像金字塔。 图像金字塔包括多个图像级别。 图像分辨率在每个较高的一个图像级别被减少。 对于每个图像级别和对于第一帧中的每个像素，处理器被配置为建立第二帧中的像素的位置的初始估计，并且从初始估计开始施加多个顺序搜索，其建立精确的 估计第二帧中像素的位置。