Method and system for generating a range image using sparse depth data
AssigneeGM Global Technology Operations LLC
InventorsWei Tong, Shuqing Zeng, Upali P. Mudalige
Life of this patent
Estimating the term…
Abstract
A system and method for generating a range image using sparse depth data is disclosed. The method includes receiving, by a controller, image data of a scene. The image data includes a first set of pixels. The method also includes receiving, by the controller, a sparse depth data of the scene. The sparse depth data includes a second set of pixels, and the number of the second set of pixels is less than the number of first set of pixels. The method also includes combining the image data and the sparse depth data into a combined data. The method also includes generating a range image using the combined data.
Claims16
A method, the method comprising:
- receiving, by a controller, image data of a scene, wherein the image data comprises a first set of pixels comprising a first order of magnitude;
- receiving, by the controller, a sparse depth data of the scene, wherein the sparse depth data comprises a second set of pixels comprising a second order of magnitude, wherein the second order of magnitude is less than the first order of magnitude by at least one order of magnitude;
- performing a feature extraction and regression process on the image data to generate a features vector, wherein said feature extraction and regression process is performed by a trained neural network, wherein said trained neural network is trained to reduce a depth error between a generated depth data and an actual depth data;
- performing a first normalization on the sparse depth data to generate a depth vector, wherein the first normalization comprises modifying a range of values of the sparse depth data to match a range of values of the features vector;
- combining the features vector and the depth vector into a combined vector;
- and
- generating a range image using the combined vector.
A system within a vehicle, comprising:
- a camera;
- a range sensor;
- an electronic controller configured to:
- receive, from the camera, image data of a scene, wherein the image data comprises a first set of pixels comprising a first order of magnitude;
- receive, from the range sensor, a sparse depth data of the scene, wherein the sparse depth data comprises a second set of pixels comprising a second order of magnitude, wherein the second order of magnitude is less than the first order of magnitude by at least one order of magnitude;
- perform a feature extraction and regression process on the image data to generate a features vector, wherein said feature extraction and regression process is performed by a trained neural network, wherein said trained neural network is trained to reduce a depth error between a generated depth data and an actual depth data;
- perform a first normalization on the sparse depth data to generate a depth vector, wherein the first normalization comprises modifying a range of values of the sparse depth data to match a range of values of the features vector;
- combine the features vector and the depth vector into a combined vector;
- and
- generate a range image using the combined vector.
Dependencies are inferred from the claim text.