Infrastructure-free NLoS obstacle detection for autonomous cars
US11010622B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 30, 2019 |
| Grant date | May 18, 2021 |
| Priority date | — |
| Expiry date | Dec 30, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of non-line-of-sight (NLoS) obstacle detection for an ego vehicle is described. The method includes capturing a sequence of images over a period with an image capture device. The method also includes storing the sequence of images in a cyclic buffer. The method further includes registering each image in the cyclic buffer to a projected image. The method includes performing the registering by estimating a homography H for each frame of the sequence of images to project to a view point of a first frame in the sequence of images and remove motion of the ego vehicle in the projected image. The method also includes enhancing the projected image. The method further includes classifying the projected image based on a scene determination. The method also includes issuing a control signal to the vehicle upon classifying the projected image.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.