Distance estimation using a geometrical distance aware machine learning model
AssigneeQUALCOMM Incorporated
InventorsDavid Unger, Senthil Kumar Yogamani, Varun Ravi Kumar
Life of this patent
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Abstract
Techniques and systems are provided for generating depth information for an image. For instance, a process can include obtaining one or more images of an environment. The process can further include generating a set of features for the one or more images. The process can also include combining the set of features with one or more distance maps to generate combined feature distance information, wherein the one or more distance maps indicate distances based on relative height above a ground level. The process can further include generating depth information of the environment based on the combined feature distance information, and outputting the depth information of the environment.
Claims30
An apparatus for generating depth information, comprising:
- at least one memory comprising instructions;
- and
- at least one processor coupled to the at least one memory and configured to:
- obtain one or more images of an environment;
- generate a set of features for the one or more images;
- combine the set of features with one or more distance maps to generate combined feature distance information, wherein the one or more distance maps indicate distances based on a height of features above a ground plane in the one or more images, and wherein the one or more distance maps are predetermined;
- generate depth information of the environment based on the combined feature distance information;
- and
- output the depth information of the environment.
A method for generating depth information, comprising:
- obtaining one or more images of an environment;
- generating a set of features for the one or more images;
- combining the set of features with one or more distance maps to generate combined feature distance information, wherein the one or more distance maps indicate distances based on a height of features above a ground plane in the one or more images, and wherein the one or more distance maps are predetermined;
- generating depth information of the environment based on the combined feature distance information;
- and
- outputting the depth information of the environment.
A non-transitory computer-readable medium having stored thereon instructions that, when executed by at least one processor, cause the at least one processor to:
- obtain one or more images of an environment;
- generate a set of features for the one or more images;
- combine the set of features with one or more distance maps to generate combined feature distance information, wherein the one or more distance maps indicate distances based on a height of features above a ground plane in the one or more images, and wherein the one or more distance maps are predetermined;
- generate depth information of the environment based on the combined feature distance information;
- and
- output the depth information of the environment.
An apparatus for generating depth information comprising:
- means for obtaining one or more images of an environment;
- means for generating a set of features for the one or more images;
- means for combining the set of features with one or more distance maps to generate combined feature distance information, wherein the one or more distance maps indicate distances based on a height of features above a ground plane in the one or more images, and wherein the one or more distance maps are predetermined;
- means for generating depth information of the environment based on the combined feature distance information;
- and
- means for outputting the depth information of the environment.
Dependencies are inferred from the claim text.