公开(公告)号：US10108864B2

公开(公告)日：2018-10-23

申请号：US15235516

申请日：2016-08-12

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Prashanth Ramanathpu Viswanath ,  Soyeb Nagori ,  Manu Mathew

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/579 ,  G06T7/269 ,  H04N7/18

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.

公开(公告)号：US10354149B2

公开(公告)日：2019-07-16

申请号：US16121012

申请日：2018-09-04

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Prashanth Ramanathpu Viswanath ,  Soyeb Nagori ,  Manu Mathew

IPC: G06K9/00 ,  G06T7/269 ,  H04N7/18 ,  G06K9/46 ,  G06T7/579

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.

公开(公告)号：US20190019043A1

公开(公告)日：2019-01-17

申请号：US16121012

申请日：2018-09-04

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Prashanth Ramanathpu Viswanath ,  Soyeb Nagori ,  Manu Mathew

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

CPC classification number: G06K9/00791 ,  G06K9/4604 ,  G06T7/269 ,  G06T7/579 ,  G06T2207/30244 ,  G06T2207/30252

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.