Equidistant-temporal aggregation for moving object segmentation
AssigneeQUALCOMM Incorporated
InventorsMing-Yuan Yu, Varun Ravi Kumar, Senthil Kumar Yogamani
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Abstract
A system for navigation store, in a time-based buffer, a first set of frames acquired by a sensor; stores, in a distance-based buffer, a second set of frames acquired by the sensor; performs moving object segmentation on the first set of frames and the second set of frames to identify at least one moving object in a scene of the frames; predicts a trajectory of the at least one moving object; and performs a navigation function based on the predicted trajectory.
Claims30
An apparatus for navigation, the apparatus comprising:
- a memory configured to store a time-based buffer with a first set of frames acquired from a sensor and a distance-based buffer with a second set of frames acquired from the sensor;
- one or more processors implemented in circuitry, in communication with the memory, and configured to:
- determine that the sensor has moved a threshold unit of distance;
- add a new frame acquired from the sensor to the second set of frames in response to determining that the sensor has moved the threshold unit of distance;
- perform moving object segmentation on the first set of frames and the second set of frames to identify at least one moving object in a scene of the first set of frames and the second set of frames;
- predict a trajectory of the at least one moving object;
- and
- perform a navigation function based on the predicted trajectory.
A method for navigation, the method comprising:
- storing, in a time-based buffer, a first set of frames acquired by a sensor;
- storing, in a distance-based buffer, a second set of frames acquired by the sensor;
- determining that the sensor has moved a threshold unit of distance;
- adding a new frame acquired from the sensor to the second set of frames in response to determining that the sensor has moved the threshold unit of distance;
- performing moving object segmentation on the first set of frames and the second set of frames to identify at least one moving object in a scene of the first set of frames and the second set of frames;
- predicting a trajectory of the at least one moving object;
- and
- performing a navigation function based on the predicted trajectory.
A non-transitory computer-readable storage medium storing instructions that when executed by one or more processors cause the one or more processors to:
- store, in a time-based buffer, a first set of frames acquired by a sensor;
- store, in a distance-based buffer, a second set of frames acquired by the sensor;
- determine that the sensor has moved a threshold unit of distance;
- add a new frame acquired from the sensor to the second set of frames in response to determining that the sensor has moved the threshold unit of distance;
- perform moving object segmentation on the first set of frames and the second set of frames to identify at least one moving object in a scene of the first set of frames and the second set of frames;
- predict a trajectory of the at least one moving object;
- and
- perform a navigation function based on the predicted trajectory.
Dependencies are inferred from the claim text.