Multi-degree-of-freedom pose for vehicle navigation
AssigneeFord Global Technologies, LLC
InventorsPunarjay Chakravarty, Shubham Shrivastava
Life of this patent
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Abstract
A computer, including a processor and a memory, the memory including instructions to be executed by the processor to capture, from a camera, one or more images, wherein the one or more images include at least a portion of a vehicle, receive a plurality of keypoints corresponding to markers on the vehicle and instantiate a virtual vehicle corresponding to the vehicle. The instructions include further instructions to determine rotational and translation parameters of the vehicle by matching a plurality of virtual keypoints to the plurality of keypoints and determine a multi-degree of freedom (MDF) pose of the vehicle based on the rotational and translation parameters.
Claims16
A system comprising:
- a stationary computer comprising a first processor and a first memory, the first memory including first instructions executable by the first processor to:
- capture, from a camera, one or more images, wherein the one or more images include at least a portion of a vehicle;
- receive a plurality of keypoints corresponding to markers on the vehicle;
- instantiate a virtual vehicle corresponding to the vehicle;
- determine rotational and translation parameters of the vehicle by matching a plurality of virtual keypoints to the plurality of keypoints;
- and
- determine a multi-degree of freedom (MDF) pose of the vehicle based on the rotational and translation parameters based on tracking the vehicle through a plurality of images and determining the MDF pose of the vehicle in the plurality of images by comparing a projected silhouette of the vehicle to an actual silhouette of the vehicle for a plurality of cameras wherein the projected silhouette is generated by determining 3D points on a ray extending from a camera center that intersects with a volume boundary of the MDF pose;
- and
- a vehicle computer comprising a second processor and a second memory, the second memory including second instructions executable by the second processor to:
- receive the MDF pose in the vehicle computer;
- operate the vehicle by controlling vehicle powertrain, vehicle steering and vehicle brakes based on the MDF pose received in the vehicle.
A method, comprising:
- capturing, from a camera, one or more images, wherein the one or more images include at least a portion of a vehicle;
- receiving a plurality of keypoints corresponding to markers on the vehicle;
- instantiating a virtual vehicle corresponding to the vehicle;
- determining rotational and translation parameters of the vehicle by matching a plurality of virtual keypoints to the plurality of keypoints;
- and
- determining a multi-degree of freedom (MDF) pose of the vehicle based on the rotational and translation parameters based on tracking the vehicle through a plurality of images and determining the MDF pose of the vehicle in the plurality of images by comparing a projected silhouette of the vehicle to an actual silhouette of the vehicle for a plurality of cameras wherein the projected silhouette is generated by determining 3D points on a ray extending from a camera center that intersects with a volume boundary of the MDF pose;
- and
- receiving the MDF pose in the vehicle;
- operating the vehicle by controlling vehicle powertrain, vehicle steering and vehicle brakes based on the MDF pose received in the vehicle.
Dependencies are inferred from the claim text.