US 11,776,135 B2 · Object velocity from images

Abstract

Techniques are discussed for determining a velocity of an object in an environment from a sequence of images (e.g., two or more). A first image of the sequence is transformed to align the object with an image center. Additional images in the sequence are transformed by the same amount to form a sequence of transformed images. Such sequence is input into a machine learned model trained to output a scaled velocity of the object (a relative object velocity (ROV)) according to the transformed coordinate system. The ROV is then converted to the camera coordinate system by applying an inverse of the transformation. Using a depth associated with the object and the ROV of the object in the camera coordinate frame, an actual velocity of the object in the environment is determined relative to the camera.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving an image representing at least a portion of an object, the image associated with a camera coordinate frame;
applying a transformation to align a feature of the object with a location in an image space to generate a transformed image in a transformed space, wherein a location of the at least the portion of the object in the image is represented as a center of a view frustum of the transformed space;
determining a velocity of the object in the transformed space;
determining a depth of the object in the camera coordinate frame;
and
determining, based at least in part on the depth of the object and the velocity of the object in the transformed space, a velocity of the object in an environment.

6 more elements

A vehicle comprising:

a camera;
one or more processors;
and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving an image representing at least a portion of an object, the image associated with a camera coordinate frame;
applying a transformation to align a feature of the object with a location in an image space to generate a transformed image in a transformed space, wherein a location of the at least the portion of the object in the image being represented as a center of a view frustum of the transformed space;
determining a velocity of the object in the transformed space;
determining a depth of the object in the camera coordinate frame;
and
determining, based at least in part on the depth of the object and the velocity of the object in the transformed space, a velocity of the object in an environment.

7 more elements

Dependencies are inferred from the claim text.

Object velocity from images

Life of this patent

Object velocity from images

Life of this patent

Abstract

Claims20