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    Estimation of time to collision in a computer vision system
    11.
    发明授权
    Estimation of time to collision in a computer vision system 有权

    公开(公告)号：US10248872B2

    公开(公告)日：2019-04-02

    申请号：US15298218

    申请日：2016-10-19

    Applicant: Texas Instruments Incorporated

    Inventor： Prashanth Ramanathpur Viswanath ,  Deepak Kumar Poddar ,  Soyed Nagori ,  Manu Mathew

    IPC: G06K9/00 ,  H04N7/18 ,  G06T7/73 ,  G06T7/246

    Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.

    Estimation of Time to Collision in a Computer Vision System
    12.
    发明申请
    Estimation of Time to Collision in a Computer Vision System 有权

    公开(公告)号：US20210287021A1

    公开(公告)日：2021-09-16

    申请号：US17195915

    申请日：2021-03-09

    Applicant: Texas Instruments Incorporated

    Inventor： Prashanth Ramanathpur Viswanath ,  Deepak Kumar Poddar ,  Soyeb Nagori ,  Manu Mathew

    IPC: G06K9/00

    Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.

    STATIONARY-VEHICLE STRUCTURE FROM MOTION
    14.
    发明申请
    STATIONARY-VEHICLE STRUCTURE FROM MOTION 审中-公开

    公开(公告)号：US20190286919A1

    公开(公告)日：2019-09-19

    申请号：US16434542

    申请日：2019-06-07

    Applicant: TEXAS INSTRUMENTS INCORPORATED

    Inventor： Prashanth Ramanathpur Viswanath ,  Soyeb Nagori ,  Manu Mathew

    IPC: G06K9/00 ,  G06K9/46 ,  G06T7/579 ,  G06T7/269

    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.

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