CPC G06T 7/246 (2017.01) [G06T 2207/10016 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30256 (2013.01)] | 20 Claims |
1. A system for ego vehicle speed estimation, comprising
a car-mounted monocular camera for capturing a sequence of video frames of an outdoor scene from a moving car, where the outdoor scene includes a road, as a camera channel;
processing circuitry configured with
a single-shot network, and
a neural network time series model,
wherein the single-shot network segments features of the road in the video frame sequence and generates a masked-attention map for the segmented road features;
a concatenation operation that concatenates the masked-attention map as an additional channel to the camera channel to generate a masked-attention input;
wherein the neural network time series model receives the masked-attention input and generates an estimated speed of the ego vehicle based on displacement of the segmented road features in the video sequences; and
output circuitry to output a signal indicating the estimated speed.
|