Patent · US Active

Method and a device for generating an occupancy map of an environment of a vehicle

US10354154B2 · kind B2 · utility

1Cited by

0References

12Claims

0Family size

Assignee

Delphi Technologies · US

Inventors

Jens Westerhoff · Dortmund, DE
Jan Siegemund · Cologne, DE
Mirko Meuter · Gruiten, DE
Stephanie Lessmann · Erkrath, DE

Key dates

Filing date	Apr 6, 2018
Grant date	Jul 16, 2019
Priority date	—
Expiry date	Apr 6, 2038

Classification

Technology area (CPC G)Physics
CPC primaryG06T2207/30252
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

A method of generating an occupancy map representing free and occupied space around a vehicle, wherein the occupancy map is divided into a plurality of cells Mx,y, the method includes: capturing two consecutive images by a camera mounted on the vehicle; generating optical flow vectors from the two consecutive images; estimating 3D points in the space around the vehicle from the optical flow vectors; generating rays from the camera to each of the estimated 3D points, wherein intersection points of the rays with the cells Mx,y defining further 3D points; determining for each of the cells Mx,y a function L_(x,y)^t for a time step t; and determining an occupancy probability from the function L_(x,y)^t for each of the cells Mx,y.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.