| CPC G06T 7/269 (2017.01) [G06T 7/248 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30261 (2013.01)] | 20 Claims |
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1. A method performed by one or more computers, the method comprising:
obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene in the environment taken by the agent at a second later time point;
obtaining a point cloud characterizing the scene in the environment, the point cloud comprising a plurality of points;
determining, from the first image and the second image, a predicted optical flow between the first image and the second image;
determining, for each of the plurality of points from the point cloud and from the predicted optical flow between the first and second images, a respective initial flow prediction for the point that represents motion of the point between the first time point and the second time point;
determining, for each of the plurality of points from the point cloud, a respective ego motion flow estimate for the point that represents a motion of the point between the first and second time points that is induced by ego motion of the agent between the first and second time points; and
determining, for each of the plurality of points from the point cloud and from the respective initial flow predictions for the plurality of points and the respective ego motion flow estimates for the plurality of points, a respective motion prediction that indicates whether the point was static or in motion between the first time point and the second time point.
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