公开(公告)号：US20230082331A1

公开(公告)日：2023-03-16

申请号：US17942459

申请日：2022-09-12

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Marzena BANACH ,  Piotr BOGACKI ,  Rafal DLUGOSZ ,  Waldemar DWORAKOWSKI

IPC: G06V20/56 ,  G06T7/11

Abstract: A method of processing an image of a road having a road marker acquired by a vehicle-mounted camera to generate boundary data indicating a boundary of the road marker region of the image which represents the road marker, comprising: generating an LL sub-band image of an Mth level of an (M+1)-level discrete wavelet transform, DWT, decomposition of the image by iteratively low-pass filtering and down-sampling the image M times; generating a sub-band image of an (M+1)th level of the (M+1) level DWT decomposition by high-pass filtering the LL sub-band image and down-sampling a result of the high-pass filtering; and determining a boundary of a region of pixels of the sub-band image of the (M+1)th level, the region being surrounded by pixels having pixel values substantially different to the pixel values of the pixels in the region, the determined boundary indicating the boundary of the road marker region.

公开(公告)号：US20230196615A1

公开(公告)日：2023-06-22

申请号：US18080955

申请日：2022-12-14

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Piotr BOGACKI ,  Rafal DLUGOSZ ,  Marzena BANACH

IPC: G06T7/73 ,  G06T7/246 ,  G06T7/13

CPC classification number: G06T7/74 ,  G06T7/248 ,  G06T7/13 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: The present disclosure relates to a computer-implemented method for determining a central point of point cloud data in an automotive system for monitoring the environment of a vehicle. The point cloud data is generated by one or more sensors of the vehicle with respect to a reference coordinate system. The point cloud data defines a connected subspace of the reference coordinate system. The method comprises a step a) of determining a bounding box of the point cloud data, a step b) of selecting a starting agent position of an agent within the bounding box, and a step c) of selecting a coordinate system relative to the bounding box. In a further step d) a plurality of agent moving operations are performed. Each agent moving operation comprises moving the agent from the current agent position to a new agent position parallel to a coordinate axis of the selected coordinate system. The new agent position is determined based on an intersecting line through the current agent position parallel to the coordinate axis. The method further comprises a step e) of determining, after step d) is completed, the new agent position as the central point of the point cloud data.

公开(公告)号：US20230084189A1

公开(公告)日：2023-03-16

申请号：US17942428

申请日：2022-09-12

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Marzena BANACH ,  Piotr BOGACKI ,  Rafal DLUGOSZ ,  Waldemar DWORAKOWSKI

IPC: G06T7/12 ,  G06T3/40 ,  G06T5/20

Abstract: A method of processing an image of a scene including a road acquired by a vehicle-mounted camera to generate boundary data indicative of a boundary of an image region which represents an unoccupied area of the road, comprising: generating (S10) an LL sub-band image of an Nth level of an (N+1)-level discrete wavelet transform, DWT, decomposition of the image by iteratively low-pass filtering and down-sampling the image N times, where N is an integer equal to or greater than one; generating (S20) a sub-band image of an (N+1)th level by high-pass filtering the LL sub-band image of the Nth level, and down-sampling a result of the high-pass filtering, such that the sub-band image of the (N+1)th level has a pixel region having substantially equal pixel values representing the unoccupied area of the road in the image; and generating (S30) the boundary data by determining a boundary of the pixel region.

公开(公告)号：US20230196611A1

公开(公告)日：2023-06-22

申请号：US18071952

申请日：2022-11-30

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Piotr BOGACKI ,  Rafal DLUGOSZ ,  Marzena BANACH

IPC: G06T7/73

CPC classification number: G06T7/73 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: One aspect relates to a computer-implemented method for determining a skeleton of point cloud data in an automotive system for monitoring the environment of a vehicle. In order to determine the skeleton, a method of determining a central point of a point cloud data is performed multiple times, each time using different values for one or more starting parameters. The method may yield different central points depending on the selected values for the one or more starting parameters. The resulting plurality of central points is interpreted as the skeleton of the point cloud data.

公开(公告)号：US20230196598A1

公开(公告)日：2023-06-22

申请号：US18083123

申请日：2022-12-16

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Piotr BOGACKI ,  Rafal DLUGOSZ ,  Marzena BANACH

IPC: G06T7/521 ,  G06T7/70 ,  G06T7/20 ,  G06T3/60 ,  G06T7/13

CPC classification number: G06T7/521 ,  G06T3/60 ,  G06T7/13 ,  G06T7/20 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: One aspect relates to a computer-implemented method for determining a quasi-rotation-invariant shape descriptor of point cloud data in an automotive system for monitoring the environment of a vehicle. In order to determine the shape descriptor, a method of determining a central point of a point cloud data is performed multiple times, each time using different values for one or more starting parameters. The method may yield different central points depending on the selected values for the one or more starting parameters. A regression line is calculated for the plurality of central points such that the shape descriptor is determined based on a base form of the plurality of central points.