Vehicle environment modeling with a camera

A method for modeling an environment, comprising:

• obtaining a sequence of unrectified images representative of a road environment, the sequence of unrectified images including a first unrectified image, a previous unrectified image, and a previous-previous unrectified image;
• calculating a best-fit homography from a pinhole homography and rectification parameters for a lens used to capture the first unrectified image;
• warping the previous unrectified image and the previous-previous unrectified image to the first unrectified image using the best-fit homography, to obtain a warped previous unrectified image and a warped previous-previous unrectified image;
• providing the first unrectified image, the warped previous unrectified image, and the warped previous-previous unrectified image to an artificial neural network (ANN) to produce a three-dimensional structure of a scene;
• and
• applying the best-fit homography to the three-dimensional structure of the scene to create a model of the road environment.

At least one machine-readable medium including instructions for modeling an environment, the instructions, when executed by processing circuitry, cause the processing circuitry to perform operations comprising:

• obtaining a sequence of unrectified images representative of a road environment, the sequence of unrectified images including a first unrectified image, a previous unrectified image, and a previous-previous unrectified image;
• calculating a best-fit homography from a pinhole homography and rectification parameters for a lens used to capture the first unrectified image;
• warping the previous unrectified image and the previous-previous unrectified image to the first unrectified image using the best-fit homography, to obtain a warped previous unrectified image and a warped previous-previous unrectified image;
• providing the first unrectified image, the warped previous unrectified image, and the warped previous-previous unrectified image to an artificial neural network (ANN) to produce a three-dimensional structure of a scene;
• and
• applying the best-fit homography to the three-dimensional structure of the scene to create a model of the road environment.