Stereo vision system and method for small-object detection and tracking in real time
US12125215B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | May 30, 2024 |
| Grant date | Oct 22, 2024 |
| Priority date | — |
| Expiry date | May 30, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/07
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of detecting and tracking objects includes (a) obtaining point-cloud data captured by camera sensors on a vehicle travelling along a road surface, (b) compressing the point-cloud data to bird's-eye-view (BEV) data representing a view along a BEV direction oriented approximately perpendicular to the road surface, the BEV data representing the objects on a BEV plane oriented approximately parallel the road surface, (c) establishing a grid of cells for the BEV plane, (d) for each cell, determining occupancy values of the cell for a time tn and performing noise reduction by assigning weights to the cell based on predicted occupancy values of the cell for the time tn and on occupancy values of the cell for a previous time tn−1, and (e) outputting to a controller of the vehicle, in real time or nearly real time, an occupancy evidence map of objects in the vehicle's environment.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.