Fast detection of secondary objects that may intersect the trajectory of a moving primary object

US11790663B2 · kind B2 · utility

Assignees

• Robert Bosch GmbH · DE
• PROPHESEE SA · FR

Inventors

• Michael Pfeiffer · Pleasanton, US
• Jochen Marx · Emmerke, DE
• Oliver Lange · Bremen, DE
• Christoph Posch · Bad Fischau, AT
• Xavier Lagorce · Saint-Maur-des-Fossés, FR
• Spiros Nikolaidis · Paris, FR

Key dates

• Filing date: Mar 19, 2019
• Grant date: Oct 17, 2023
• Expiry date: May 5, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30261
• WIPO field: Computer technology
• WIPO sector: Electrical engineering

Abstract

A system (1) for detecting dynamic secondary objects (55) that have a potential to intersect the trajectory (51) of a moving primary object (50), comprising a vision sensor (2) with a light-sensitive area (20) that comprises event-based pixels (21), so that a relative change in the light intensity impinging onto an event-based pixel (21) of the vision sensor (2) by at least a predetermined percentage causes the vision sensor (2) to emit an event (21a) associated with this event-based pixel (21), wherein the system (1) further comprises a discriminator module (3) that gets both the stream of events (21a) from the vision sensor (2) and information (52) about the heading and/or speed of the motion of the primary object (50) as inputs, and is configured to identify, from said stream of events (21a), based at least in part on said information (52), events (21b) that are likely to be caused by the motion of a secondary object (55), rather than by the motion of the primary object (50).Vision sensors (2) for use in the system (1).A corresponding computer program.