公开(公告)号：US20220180642A1

公开(公告)日：2022-06-09

申请号：US17678411

申请日：2022-02-23

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Deepak PODDAR ,  Soyeb NAGORI ,  Manu MATHEW ,  Debapriya MAJI

IPC: G06V20/58 ,  G06T7/70

Abstract: Techniques including receiving a distorted image from a camera disposed about a vehicle, detecting, in the distorted image, corner points associated with a target object, mapping the corner points to a distortion corrected domain based on one or more camera parameters, mapping the corner points and lines between the corner points back to a distorted domain based on the camera parameters, interpolating one or more intermediate points to generate lines between the corner points in the distortion corrected domain mapping the corner points and the lines between the corner points back to a distorted domain based on the camera parameters, and adjusting a direction of travel of the vehicle based on the located target object.

公开(公告)号：US20220327180A1

公开(公告)日：2022-10-13

申请号：US17489998

申请日：2021-09-30

Applicant: Texas Instruments Incorporated

Inventor： Deepak PODDAR ,  Soyeb NAGORI ,  Pramod SWAMI

IPC: G06F17/16 ,  G06F7/78 ,  G06F9/50

Abstract: Techniques for resizing data including receiving input data values for resizing, placing a first number of data values from a first line of data values of the input data values in a first portion of a first vector, placing the first number of data values from a second line of data values of the input data values in a second portion of the first vector, receiving a first matrix of weights, wherein each weight of the first matrix of weights corresponds to an amount of weight to apply to a data value for a point on a first line of a set of resized data, multiplying the first vector and the first matrix of weights to determine data values for the first line of the set of resized data, and outputting the set of resized data.

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：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.