Methods and systems for unsupervised depth estimation for fisheye cameras using spatial-temporal consistency
US12056887B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 2, 2022 |
| Grant date | Aug 6, 2024 |
| Priority date | — |
| Expiry date | Nov 14, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods and systems for unsupervised depth estimation for fisheye cameras using spatial-temporal (and, optionally, modal) consistency. This unsupervised depth estimation works directly on raw, distorted stereo fisheye images, such as those obtained from the four fisheye camera disposed around a vehicle in rigid alignment. Temporal consistency involves training a depth estimation model using a sequence of frames as input, while spatial consistency involves training the depth estimation model using overlapping images from synchronized stereo camera pairs. Images from different stereo camera pairs can also be used at different times. Modal consistency, when applied, dictates that different sensor types (e.g., camera, lidar, etc.) must also agree. The methods and systems of the present disclosure utilize a fisheye camera projection model that projects a disparity map into a point cloud map, which aides in the rectification of stereo pairs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.