Fisheye collage transformation for road object detection or other object detection
AssigneeCanoo Technologies Inc.
InventorsJongmoo Choi, David R. Arft
Life of this patent
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Abstract
A method includes obtaining a fisheye image of a scene and identifying multiple regions of interest in the fisheye image. The method also includes applying one or more transformations to transform and rotate one or more of the regions of interest in the fisheye image to produce one or more transformed regions. The method further includes generating a collage image having at least one portion based on the fisheye image and one or more portions containing the one or more transformed regions. In addition, the method includes performing object detection to identify one or more objects captured in the collage image.
Claims33
A method comprising:
- obtaining a fisheye image of a scene around a vehicle;
- identifying multiple regions of interest in the fisheye image;
- applying one or more transformations to transform and rotate one or more of the regions of interest in the fisheye image to produce one or more transformed regions;
- generating a collage image comprising at least one portion based on the fisheye image and one or more portions containing the one or more transformed regions;
- and
- performing object detection to identify one or more objects captured in the collage image;
- wherein the multiple regions of interest comprise different portions of the fisheye image that are identified as potentially containing one or more objects of interest;
- and
- wherein at least one region of interest identified as potentially containing at least one object of interest is located within another region of interest identified as potentially containing the at least one object of interest and includes a driving lane closest to the vehicle.
An apparatus comprising:
- at least one processor configured to:
- obtain a fisheye image of a scene around a vehicle;
- identify multiple regions of interest in the fisheye image;
- apply one or more transformations to transform and rotate one or more of the regions of interest in the fisheye image to produce one or more transformed regions;
- generate a collage image comprising at least one portion based on the fisheye image and one or more portions containing the one or more transformed regions;
- and
- perform object detection to identify one or more objects captured in the collage image;
- wherein the at least one processor is configured to identify different portions of the fisheye image that potentially contain one or more objects of interest as the multiple regions of interest;
- and
- wherein at least one region of interest identified as potentially containing at least one object of interest is located within another region of interest identified as potentially containing the at least one object of interest and includes a driving lane closest to the vehicle.
A non-transitory machine-readable medium containing instructions that when executed cause at least one processor to:
- obtain a fisheye image of a scene around a vehicle;
- identify multiple regions of interest in the fisheye image;
- apply one or more transformations to transform and rotate one or more of the regions of interest in the fisheye image to produce one or more transformed regions;
- generate a collage image comprising at least one portion based on the fisheye image and one or more portions containing the one or more transformed regions;
- and
- perform object detection to identify one or more objects captured in the collage image;
- wherein the instructions that when executed cause the at least one processor to identify the multiple regions of interest in the fisheye image comprise:
- instructions that when executed cause the at least one processor to identify different portions of the fisheye image that potentially contain one or more objects of interest as the multiple regions of interest;
- and
- wherein at least one region of interest identified as potentially containing at least one object of interest is located within another region of interest identified as potentially containing the at least one object of interest and includes a driving lane closest to the vehicle.
Dependencies are inferred from the claim text.