| CPC G06T 7/85 (2017.01) [G06T 2207/10016 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
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1. A system, comprising:
a stereo camera system onboard a vehicle;
a Time of Flight (ToF) sensor onboard the vehicle;
at least one processor; and
a memory operably coupled to the at least one processor and storing instructions to cause the system to perform operations comprising:
receiving, from the stereo camera system, stereo image data depicting a scene, the scene including a stationary object, the stereo image data depicting the scene captured by the stereo camera system at a first time;
receiving sensor data from the ToF sensor;
projecting the sensor data into a representation of the scene, to generate a plurality of ToF distance measurements;
identifying a plurality of ToF disparities based on the ToF distance measurements;
selecting a subset of ToF disparities from the plurality of ToF disparities based on proximities of the plurality of ToF disparities to an expected disparity value from a non-zero set of expected disparity values;
determining a distance between the stationary object and the vehicle, the distance being associated with the first time; and
applying a correction to the stereo image data by:
when the distance between the stationary object and the vehicle is below a predefined threshold, applying a first correction to the stereo image data based on a stereo disparity calculated based on the stereo image data, and
when the distance between the stationary object and the vehicle is not below the predefined threshold, applying a second correction to the stereo image data based on the subset of ToF disparities.
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