Image interpolation for multi-sensor training of feature detection models

An apparatus for multi-sensor training of a feature detection model, comprising:

• at least one processor;
• and
• at least one memory communicatively coupled with the at least one processor and storing processor-readable code that, when executed by the at least one processor, is configured to:
• obtain a detection-and-ranging (DAR) frame captured by a DAR sensor;
• obtain a first image frame captured at a first time by a camera and a second image frame captured at a second time by the camera, wherein at a capture time of the DAR frame, a field-of-view (FOV) of the DAR sensor overlaps an FOV of the camera, and wherein the capture time of the DAR frame is between the first time and the second time;
• interpolate based on the first image frame and the second image frame to create an interpolated image frame, wherein a nominal capture time of the interpolated image frame corresponds to the capture time of the DAR frame;
• and
• train the feature detection model using the DAR frame and the interpolated image frame.

An apparatus for multi-sensor training of a feature detection model, comprising:

• means for obtaining a detection-and-ranging (DAR) frame captured by a DAR sensor;
• means for obtaining a first image frame captured at a first time by a camera and a second image frame captured at a second time by the camera, wherein at a capture time of the DAR frame, a field-of-view (FOV) of the DAR sensor overlaps an FOV of the camera, and wherein the capture time of the DAR frame is between the first time and the second time;
• means for interpolating based on the first image frame and the second image frame to create an interpolated image frame, wherein a nominal capture time of the interpolated image frame corresponds to the capture time of the DAR frame;
• and
• means for training the feature detection model using the DAR frame and the interpolated image frame.

A non-transitory computer-readable medium storing instructions for multi-sensor training of a feature detection model, the instructions including code to:

• obtain a detection-and-ranging (DAR) frame captured by a DAR sensor;
• obtain a first image frame captured at a first time by a camera and a second image frame captured at a second time by the camera, wherein at a capture time of the DAR frame, a field-of-view (FOV) of the DAR sensor overlaps an FOV of the camera, and wherein the capture time of the DAR frame is between the first time and the second time;
• interpolate based on the first image frame and the second image frame to create an interpolated image frame, wherein a nominal capture time of the interpolated image frame corresponds to the capture time of the DAR frame;
• and
• train the feature detection model using the DAR frame and the interpolated image frame.