Object detection for an autonomous vehicle
First Claim
Patent Images
1. An object detection system for an autonomous vehicle (AV) comprising:
- a memory to store an instruction set; and
one or more processors to execute instructions from the instruction set to;
process first sensor data obtained at a first time for a road segment on which the autonomous vehicle is being driven, wherein the processed first sensor data includes two or more images at two or more different angles captured at the first time;
compare the two or more images to create a disparity image;
process second sensor data obtained at a second time for the road segment on which the autonomous vehicle is being driven, wherein the processed second sensor data includes one or more images at the second time;
compare at least a first image of the two or more images at the first time and a first image of the one or more images at the second time to create a first optical flow image;
compare the disparity image and the first optical flow image to previously recorded three-dimensional (3D) environment data for the road segment to identify one or more areas that contain differences from the previously recorded 3D environment data for the road segment in a field of view of one or more sensors for the autonomous vehicle; and
analyze the identified one or more areas to classify objects in the field of view of the one or more sensors.
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Abstract
An object detection system for an autonomous vehicle processes sensor data, including one or more images, obtained for a road segment on which the autonomous vehicle is being driven. The object detection system compares the images to three-dimensional (3D) environment data for the road segment to determine pixels in the images that correspond to objects not previously identified in the 3D environment data. The object detection system then analyzes the pixels to classify the objects not previously identified in the 3D environment data.
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Citations
20 Claims
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1. An object detection system for an autonomous vehicle (AV) comprising:
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a memory to store an instruction set; and one or more processors to execute instructions from the instruction set to; process first sensor data obtained at a first time for a road segment on which the autonomous vehicle is being driven, wherein the processed first sensor data includes two or more images at two or more different angles captured at the first time; compare the two or more images to create a disparity image; process second sensor data obtained at a second time for the road segment on which the autonomous vehicle is being driven, wherein the processed second sensor data includes one or more images at the second time; compare at least a first image of the two or more images at the first time and a first image of the one or more images at the second time to create a first optical flow image; compare the disparity image and the first optical flow image to previously recorded three-dimensional (3D) environment data for the road segment to identify one or more areas that contain differences from the previously recorded 3D environment data for the road segment in a field of view of one or more sensors for the autonomous vehicle; and analyze the identified one or more areas to classify objects in the field of view of the one or more sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for object detection, the method being implemented by one or more processors of an autonomous vehicle and comprising:
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processing first sensor data obtained at a first time for a road segment on which the autonomous vehicle is being driven, wherein the first processed sensor data includes two or more images at two or more different angles captured at the first time; comparing the two or more images to create a disparity image; processing second sensor data obtained at a second time for the road segment on which the autonomous vehicle is being driven, wherein the processed second sensor data includes one or more images at the second time; comparing at least a first image of the two or more images at the first time and a first image of the one or more images at the second time to create a first optical flow image; comparing the disparity image and the first optical flow image to previously recorded three-dimensional (3D) environment data for the road segment to identify one or more areas that contain differences from the previously recorded 3D environment data for the road segment in a field of view of one or more sensors for the autonomous vehicle; and analyzing the identified one or more areas to classify objects in the field of view of the one or more images. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A vehicle comprising:
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one or more sensors to obtain sensor data from an environment around the vehicle; a memory to store an instruction set; and one or more processors to execute instructions from the instruction set to; process first sensor data obtained for a road segment at a first time on which the vehicle is being driven, wherein the processed first sensor data includes two or more images at two or more different angles captured at the first time; compare the two or more images to create a disparity image; process second sensor data obtained at a second time for the road segment on which the autonomous vehicle is being driven, wherein the processed second sensor data includes one or more images at the second time; compare at least a first image of the two or more images at the first time and a first image of the one or more images at the second time to create a first optical flow image; compare the disparity image and the first optical flow image to previously recorded three-dimensional (3D) environment data for the road segment to identify one or more areas that contain differences from the previously recorded 3D environment data for the road segment in a field of view of one or more sensors for the autonomous vehicle; and analyze the identified one or more areas to classify objects in the field of view of the one or more sensors. - View Dependent Claims (18, 19, 20)
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Specification