Belief propagation for range image mapping in autonomous machine applications
US11954914B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 2, 2021 |
| Grant date | Apr 9, 2024 |
| Priority date | — |
| Expiry date | Oct 11, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
In various examples, systems and methods are described that generate scene flow in 3D space through simplifying the 3D LiDAR data to “2.5D” optical flow space (e.g., x, y, and depth flow). For example, LiDAR range images may be used to generate 2.5D representations of depth flow information between frames of LiDAR data, and two or more range images may be compared to generate depth flow information, and messages may be passed—e.g., using a belief propagation algorithm—to update pixel values in the 2.5D representation. The resulting images may then be used to generate 2.5D motion vectors, and the 2.5D motion vectors may be converted back to 3D space to generate a 3D scene flow representation of an environment around an autonomous machine.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.