公开(公告)号：US12131430B2

公开(公告)日：2024-10-29

申请号：US18169165

申请日：2023-02-14

Applicant: TSINGHUA UNIVERSITY

Inventor： Shaobing Xu ,  Shangyi Li ,  Shuocheng Yang ,  Jianqiang Wang ,  Shengbo Li ,  Bo Cheng ,  Keqiang Li

IPC: G06T19/00 ,  B60W40/02 ,  B60W60/00 ,  G01M17/007 ,  G06T19/20 ,  G06V20/56

CPC classification number: G06T19/006 ,  B60W40/02 ,  B60W60/00 ,  G01M17/007 ,  G06T19/20 ,  G06V20/56 ,  B60W2556/45

Abstract: The embodiments provide a method of augmenting environmental scenes and an autonomous vehicle testing system. The method includes: obtaining, from an autonomous vehicle, image data representing an image, which depicts an environment where the autonomous vehicle drives; generating virtual object graphics representing virtual object(s) that, when rendered over the image, result in an object-augmented image; generating global scene graphics based on the object-augmented image that, when rendered along with the object-augmented image, result in a visual representation as the environment would appear when experiencing predetermined weather conditions; generating detailed weather effect graphics representing detailed weather effect(s); generating a composite weather-object-augmented image based on the virtual object graphics, the global scene graphics, and the detailed weather effect graphics; and causing the composite weather-object-augmented image to be inputted into an onboard vehicle controller of the autonomous vehicle.