Determining relative velocity using co-located pixels
US10809364B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 2018 |
| Grant date | Oct 20, 2020 |
| Priority date | — |
| Expiry date | Apr 17, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment by following a scan pattern comprising component scan lines. The method includes obtaining, based on the sensor data, a point cloud frame. Additionally, the method includes identifying a first pixel and a second pixel that are co-located within a field of regard and overlap a point cloud object within the point cloud frame and calculating a difference between a depth associated with the first pixel and a depth associated with the second pixel. The method includes determining a relative velocity of the point cloud object by dividing the difference in depth data by a time difference between when the depth associated with the first pixel was sensed and the depth associated with the second pixel was sensed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.