Environment perception using a surrounding monitoring system
AssigneeIntel IP Corporation
InventorsKoba Natroshvili, Stephan Leenders
Life of this patent
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Abstract
An apparatus for environment perception using a monitoring system is described herein. The apparatus includes a plurality of sensors, wherein the plurality of sensors is to collect data. The apparatus also includes a controller to estimate motion based on the data and data from a plurality of cameras, wherein the data from the plurality of cameras is processed simultaneously. Additionally, the apparatus includes a matching unit to perform feature matching using the motion estimation and a perception unit to determine a 3D position of points in the environment.
Claims25
An apparatus for environment perception using a monitoring system, comprising:
- a plurality of sensors, wherein the plurality of sensors is to collect data;
- a controller to estimate motion based on the data and data from a plurality of cameras, wherein the data from the plurality of cameras is processed simultaneously;
- a matching unit to perform feature matching using the motion estimation;
- and
- a perception unit to determine a 3D position of points in the environment based on the feature matching.
A method for environment perception using a monitoring system, comprising:
- collecting vehicle sensor data;
- fusing the sensor data with camera based motion estimation data;
- feature matching a series of images from a plurality of cameras to estimate a 3D structure;
- performing bundle adjustment of the plurality of cameras simultaneously;
- fusing the bundle adjustment data with the sensor data and the camera based motion estimation data;
- and
- determining a 3D position of points in the environment using the bundle adjustment data.
A system for environment perception, comprising:
- a display;
- a plurality of cameras;
- a plurality of sensors to obtain vehicle sensor data;
- a memory that is to store instructions and that is communicatively coupled to the display, the plurality of cameras, and the plurality of sensors;
- and
- a processor communicatively coupled to the display, the plurality of cameras, the plurality of sensors, and the memory, wherein when the processor is to execute the instructions, the processor is to:
- fuse the sensor data with camera based motion estimation data;
- match features from images from the plurality of cameras to estimate a 3D structure;
- perform a bundle adjustment of the plurality of cameras simultaneously;
- fuse the bundle adjustment data with the sensor data and the camera based motion estimation data;
- and
- determine a 3D position of points in the environment using the bundle adjustment data.
A tangible, non-transitory, computer-readable medium comprising instructions that, when executed by a processor, direct the processor to:
- collect vehicle sensor data;
- fuse the sensor data with camera based motion estimation data;
- feature match a series of images from a plurality of cameras to estimate a 3D structure;
- perform bundle adjustment of the plurality of cameras simultaneously;
- fuse the bundle adjustment data with the sensor data and the camera based motion estimation data;
- and
- determine a 3D position of points in the environment using the bundle adjustment data.
Dependencies are inferred from the claim text.