Surround view
AssigneeTexas Instruments Incorporated
InventorsShashank Dabral, Vikram Appia, Hemant Hariyani, Lucas Weaver
Life of this patent
Estimating the term…
Abstract
A system on a chip (SoC) includes a digital signal processor (DSP) and a graphics processing unit (GPU) coupled to the DSP. The DSP is configured to receive a stream of received depth measurements and generate a virtual bowl surface based on the stream of received depth measurements. The DSP is also configured to generate a bowl to physical camera mapping based on the virtual bowl surface. The GPU is configured to receive a first texture and receive a second texture. The GPU is also configured to perform physical camera to virtual camera transformation on the first texture and on the second texture, based on the bowl to physical camera mapping, to generate an output image.
Claims20
A system on a chip (SoC), comprising:
- a digital signal processor (DSP), configured to:
- receive a stream of received depth measurements;
- generate a virtual bowl surface based on the stream of received depth measurements by:
- determining whether to update a previous virtual bowl surface having a first bowl depth to an updated virtual bowl surface having a second bowl depth based on a comparison of a depth of a previous object with a depth of a flagged object in each direction of a plurality of directions;
- and
- generate a bowl to physical camera mapping based on the virtual bowl surface;
- and
- a graphics processing unit (GPU) coupled to the DSP, the GPU configured to:
- receive a first texture;
- receive a second texture;
- and
- perform physical camera to virtual camera transformation on the first texture and on the second texture, based on the bowl to physical camera mapping, to generate an output image.
A device, comprising:
- a processor;
- a memory coupled to the processor;
- and
- a non-transitory computer readable storage medium storing a program for execution by the processor, the program including instructions to:
- receive a first stream of received depth measurements in a first direction from a first depth sensor;
- determine a depth of a first flagged object based on the first stream of received depth measurements;
- generate a virtual bowl surface by:
- determining whether a difference between the depth of the first flagged object and a depth of a second flagged object is greater than a threshold depth difference;
- and
- determining whether to update a previous virtual bowl surface having a first bowl depth to an updated virtual bowl surface having a second bowl depth based on whether the difference between the depth of the first flagged object and the depth of the second flagged object is greater than the threshold depth difference;
- and
- store the virtual bowl surface in the memory.
A method of surround view, the method comprising;
- receiving, by a processor, a stream of received depth measurements;
- determining, by the processor, a first depth of a first flagged object based on the stream of received depth measurements;
- retrieving from a memory, by the processor, a second depth of a second flagged object;
- determining, by the processor, a comparison of the first depth with the second depth in each direction of a plurality of directions;
- updating, by the processor, a previous virtual bowl surface having a first bowl depth to an updated virtual bowl surface having a second bowl depth based on the comparison;
- determining, by the processor, a bowl to physical camera mapping, based on the updated virtual bowl surface;
- and
- storing, by the processor in the memory, the bowl to physical camera mapping and the updated virtual bowl surface.
Dependencies are inferred from the claim text.