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公开(公告)号:US10798379B2
公开(公告)日:2020-10-06
申请号:US16228350
申请日:2018-12-20
Applicant: TEXAS INSTRUMENTS INCORPORATED
Inventor: Soyeb Nagori , Manu Mathew , Pramod Kumar Swami
IPC: H04N19/107 , H04N19/50 , H04N19/176 , H04N19/147
Abstract: This invention predicts that intra mode prediction is more effective for the macroblocks where motion estimation in inter mode prediction fails. This failure is indicated by a large value of the inter mode SAD. This invention performs intra mode prediction for only macro blocks have larger inter mode SADs. The definition of a large inter mode SAD differs for different content. This invention compares the inter mode SAD of a current macroblock with an adaptive threshold. This adaptive threshold depends on the average and variance of the SADs of the previous predicted frame. An adaptive threshold is calculated for each new predictive frame.
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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
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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公开(公告)号:US10186024B2
公开(公告)日:2019-01-22
申请号:US15197749
申请日:2016-06-29
Applicant: Texas Instruments Incorporated
Inventor: Soyeb Nagori , Manu Mathew , Prashanth Ramanathpur Viswanath , Deepak Kumar Poddar
Abstract: Methods and systems providing for real time structure from motion (SfM) processing in a computer vision system receiving images from a monocular camera are disclosed. The real time SfM processing described exploits constraints of the three dimensional (3D) environment that can be assumed for automotive applications and other applications with similar constraints.
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公开(公告)号:US10165270B2
公开(公告)日:2018-12-25
申请号:US15419512
申请日:2017-01-30
Applicant: Texas Instruments Incorporated
Inventor: Soyeb Nagori , Manu Mathew , Pramod Kumar Swami
IPC: H04N19/107 , H04N19/176 , H04N19/147 , H04N19/50
Abstract: This invention predicts that intra mode prediction is more effective for the macroblocks where motion estimation in inter mode prediction fails. This failure is indicated by a large value of the inter mode SAD. This invention performs intra mode prediction for only macro blocks have larger inter mode SADs. The definition of a large inter mode SAD differs for different content. This invention compares the inter mode SAD of a current macroblock with an adaptive threshold. This adaptive threshold depends on the average and variance of the SADs of the previous predicted frame. An adaptive threshold is calculated for each new predictive frame.
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公开(公告)号:US20180357513A1
公开(公告)日:2018-12-13
申请号:US16108237
申请日:2018-08-22
Applicant: Texas Instruments Incorporated
Inventor: Mihir Narendra Mody , Manu Mathew , Chaitanya Satish Ghone
CPC classification number: G06K9/4628 , G06K9/522 , G06K9/6271
Abstract: A method for analyzing images to generate a plurality of output features includes receiving input features of the image and performing Fourier transforms on each input feature. Kernels having coefficients of a plurality of trained features are received and on-the-fly Fourier transforms (OTF-FTs) are performed on the coefficients in the kernels. The output of each Fourier transform and each OTF-FT are multiplied together to generate a plurality of products and each of the products are added to produce one sum for each output feature. Two-dimensional inverse Fourier transforms are performed on each sum.
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公开(公告)号:US20180181864A1
公开(公告)日:2018-06-28
申请号:US15800322
申请日:2017-11-01
Applicant: Texas Instruments Incorporated
Inventor: Manu Mathew , Kumar Desappan , Pramod Kumar Swami
Abstract: A method for generating a sparsified convolutional neural network (CNN) is provided that includes training the CNN to generate coefficient values of filters of convolution layers, and performing sparsified fine tuning on the convolution layers to generate the sparsified CNN, wherein the sparsified fine tuning causes selected nonzero coefficient values of the filters to be set to zero.
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公开(公告)号:US20180181816A1
公开(公告)日:2018-06-28
申请号:US15684321
申请日:2017-08-23
Applicant: Texas Instruments Incorporated
Inventor: Hrushikesh Tukaram Garud , Manu Mathew , Soyeb Noormohammed Nagori
IPC: G06K9/00 , H04N19/20 , H04N19/513 , H04N19/523 , H04N19/53 , H04N19/56 , G06T7/269 , G06T5/20 , G06T5/00
CPC classification number: G06K9/00791 , G06K9/00973 , G06K9/46 , G06K9/6215 , G06K2009/3291 , G06K2009/4666 , G06T5/002 , G06T5/20 , G06T7/246 , G06T7/269 , G06T2207/30252 , H04N19/20 , H04N19/521 , H04N19/523 , H04N19/53 , H04N19/56
Abstract: A method of optical flow estimation is provided that includes identifying a candidate matching pixel in a reference image for a pixel in a query image, determining a scaled binary pixel descriptor for the pixel based on binary census transforms of neighborhood pixels corresponding to scaling ratios in a set of scaling ratios, determining a scaled binary pixel descriptor for the candidate matching pixel based on binary census transforms of neighborhood pixels corresponding to scaling ratios in the set of scaling ratios, and determining a matching cost of the candidate matching pixel based on the scaled binary pixel descriptors.
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公开(公告)号:US20170193313A1
公开(公告)日:2017-07-06
申请号:US15395141
申请日:2016-12-30
Applicant: TEXAS INSTRUMENTS INCORPORATED
Inventor: Arun Shankar Kudana , Manu Mathew , Soyeb Nagori
CPC classification number: G06K9/00818 , G06K9/4604 , G06K9/4633 , G06K9/6257 , G06K9/6267
Abstract: Advanced driver assistance systems need to be able to recognize and to classify traffic signs under real time constraints, and under a wide variety of visual conditions. The invention shown employs binary masks extracted by color space segmentation, with a different binary mask generated for each sign shape. Temporal tracking is employed to add robustness to the detection system. The system is generic, and is trainable to the signs used in various countries.
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公开(公告)号:US20170191826A1
公开(公告)日:2017-07-06
申请号:US15255832
申请日:2016-09-02
Applicant: Texas Instruments Incorporated
Inventor: Soyeb Nagori , Poorna Kumar , Manu Mathew , Prashanth Ramanathpur Viswanath , Deepak Kumar Poddar
CPC classification number: G01C3/08 , B60R11/04 , G01C5/00 , G01C21/26 , G06K9/00791 , G06K9/623 , G06T7/579 , G06T7/73 , G06T7/77 , G06T2207/10028 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.
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公开(公告)号:US20170011520A1
公开(公告)日:2017-01-12
申请号:US15205598
申请日:2016-07-08
Applicant: Texas Instruments Incorporated
Inventor: Manu Mathew , Soyeb Noormohammed Nagori , Shyam Jagannathan
CPC classification number: G06K9/6215 , G06K9/6218 , G06K9/6232
Abstract: Disclosed examples include image processing methods and systems to process image data, including computing a plurality of scaled images according to input image data for a current image frame, computing feature vectors for locations of the individual scaled images, classifying the feature vectors to determine sets of detection windows, and grouping detection windows to identify objects in the current frame, where the grouping includes determining first clusters of the detection windows using non-maxima suppression grouping processing, determining positions and scores of second clusters using mean shift clustering according to the first clusters, and determining final clusters representing identified objects in the current image frame using non-maxima suppression grouping of the second clusters. Disclosed examples also include methods and systems to track identified objects from one frame to another using feature vectors and overlap of identified objects between frames to minimize computation intensive operations involving feature vectors.
Abstract translation: 公开的示例包括图像处理方法和处理图像数据的系统,包括根据当前图像帧的输入图像数据计算多个缩放图像,计算各个缩放图像的位置的特征向量,对特征向量进行分类以确定 检测窗口和分组检测窗口以识别当前帧中的对象,其中分组包括使用非最大抑制分组处理来确定检测窗口的第一聚类,使用根据第一簇的平均移位聚类来确定第二簇的位置和得分 并且使用第二簇的非最大抑制分组来确定表示当前图像帧中的识别对象的最终簇。 公开的示例还包括使用特征向量来跟踪所识别的对象的方法和系统,以及帧之间的已标识对象的重叠,以使涉及特征向量的计算密集型操作最小化。
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