Detecting three-dimensional structure models at runtime in vehicles

An apparatus equipped in a vehicle, the apparatus comprising:

• a navigation system receiver;
• a camera;
• a memory;
• and
• a processor coupled with the navigation system receiver, the memory, and with the camera, wherein the processor is configured to perform a method for detecting one or more three-dimensional structures in a proximity of the vehicle at runtime, the method comprising:
• generating, by the processor, using the camera, a birds-eye-view (BEV) camera image of the proximity of the vehicle, the BEV camera image comprising two-dimensional coordinates of one or more structures in the proximity;
• generating, by the processor, a BEV height image of the proximity of the vehicle, the BEV height image providing height of the one or more structures in the proximity;
• detecting, by the processor, one or more edges of the one or more three-dimensional structures in the proximity based on the BEV camera image and the BEV height image;
• generating, by the processor, models of the one or more three-dimensional structures in the proximity of the vehicle by plane-fitting based on the edges of the one or more three-dimensional structures;
• and
• reconfiguring, by the processor, the navigation system receiver based on the models of the one or more three-dimensional structures in the proximity of the vehicle, wherein reconfiguring the navigation system receiver includes changing a frequency being used by the navigation system receiver.

A computer program product comprising a computer storage device that includes computer executable instructions, which when executed by a processor, cause the processor to perform a method for detecting one or more three-dimensional structures in a proximity of a vehicle at runtime, the method comprising:

• generating, by the processor, using a camera, a birds-eye-view (BEV) camera image of the proximity of the vehicle, the BEV camera image comprising two-dimensional coordinates of one or more structures in the proximity;
• generating, by the processor, a BEV height image of the proximity of the vehicle, the BEV height image providing a height of the one or more structures in the proximity;
• detecting, by the processor, one or more edges of the one or more three-dimensional structures in the proximity based on the BEV camera image and the BEV height image;
• generating, by the processor, models of the one or more three-dimensional structures in the proximity of the vehicle by plane-fitting based on the edges of the one or more three-dimensional structures;
• and
• reconfiguring, by the processor, a navigation system receiver based on the models of the structures in the proximity of the vehicle wherein reconfiguring the navigation system receiver includes changing a frequency being used by the navigation system receiver.