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公开(公告)号：US20230351625A1
公开(公告)日：2023-11-02
申请号：US17784896
申请日：2020-12-08
发明人： Ciaran Hughes , Pantelis Ermilios , Matthias Lenk , Sunil Chandra
IPC分类号： G06T7/579 , G06T7/593 , H04N13/243 , H04N13/221
CPC分类号： G06T7/579 , G06T7/593 , H04N13/243 , H04N13/221 , G06T2207/30252 , G06T2207/20021 , G06T2207/10028
摘要： A method for forming a point cloud corresponding to the topography of an imaged environment involves acquiring an image of the environment with a camera having a WFOV lens mounted on a vehicle; changing the camera pose by an adjustment greater than a threshold; and acquiring another image of the environment with the camera at the changed pose. The images are mapped onto respective surfaces to form respective mapped images, defined by the same nonplanar geometry. One of the mapped images is divided into blocks of pixels. For each block, a depth map is formed by performing a search through the other mapped image to evaluate a disparity in the position of the location of the block of pixels in each of the mapped images. The depth map is converted into a partial point cloud corresponding to the local topography of the environment surrounding the vehicle as it moves through the environment.
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2.发明申请公开(公告)号：US20190080604A1
公开(公告)日：2019-03-14
申请号：US16113043
申请日：2018-08-27
摘要： The invention relates to a method for operating a driver assistance system (2) of a motor vehicle (1), including a) Capturing an environment (4) of the motor vehicle (1) by a capturing device (3) of the driver assistance system (2); b) Detecting an accessible freespace (6) in the captured environment (4) by a computing device (5) of the driver assistance system (2); c) Detecting and Classifying at least one object (7a-7e) in the captured environment (4) that is located at a border (8) of the freespace (6) by a neural network (9) of the driver assistance system (2); d) Assigning a part (10a-10e) of the border (8) of the freespace (6) to the detected and classified object (7a-7e); and e) Categorizing a part (11a-11e) of the freespace (6) adjacent to the part (10a-10e) of the border (8) that is assigned to the detected and classified object (7a-7e) in dependence upon the class of that classified object (7a-7e), so as to enable improved safety in driving.
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3.发明授权公开(公告)号：US10950127B2
公开(公告)日：2021-03-16
申请号：US16113043
申请日：2018-08-27
摘要： The invention relates to a method for operating a driver assistance system (2) of a motor vehicle (1), including a) Capturing an environment (4) of the motor vehicle (1) by a capturing device (3) of the driver assistance system (2); b) Detecting an accessible freespace (6) in the captured environment (4) by a computing device (5) of the driver assistance system (2); c) Detecting and Classifying at least one object (7a-7e) in the captured environment (4) that is located at a border (8) of the freespace (6) by a neural network (9) of the driver assistance system (2); d) Assigning a part (10a-10e) of the border (8) of the freespace (6) to the detected and classified object (7a-7e); and e) Categorizing a part (11a-11e) of the freespace (6) adjacent to the part (10a-10e) of the border (8) that is assigned to the detected and classified object (7a-7e) in dependence upon the class of that classified object (7a-7e), so as to enable improved safety in driving.
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