US 12,190,463 B2
Synthesizing three-dimensional visualizations from perspectives of onboard sensors of autonomous vehicles
Dillon Cower, Woodinville, WA (US); and Nirmal Patel, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jan. 24, 2023, as Appl. No. 18/158,740.
Application 18/158,740 is a continuation of application No. 17/171,221, filed on Feb. 9, 2021, granted, now 11,593,996.
Prior Publication US 2023/0230330 A1, Jul. 20, 2023
Int. Cl. G06T 19/00 (2011.01); G06T 7/20 (2017.01); G06T 15/20 (2011.01); G06T 19/20 (2011.01)
CPC G06T 19/006 (2013.01) [G06T 7/20 (2013.01); G06T 15/20 (2013.01); G06T 19/20 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01); G06T 2219/2016 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of creating a three-dimensional (3D) world view from a perspective of a camera of a vehicle, the method comprising:
receiving, by one or more processors, images of a scene captured by the camera of the vehicle and 3D content for the scene;
retrieving, by the one or more processors, calibration data for the camera of the vehicle;
identifying, by the one or more processors, a virtual camera model for the camera of the vehicle based on the calibration data and parameters associated with the camera of the vehicle; and
creating, by the one or more processors, the 3D world view using the identified virtual camera model.