US 12,223,744 B2
Vehicle environment modeling with a camera
Gideon Stein, Jerusalem (IL); Itay Blumenthal, Tel Aviv (IL); Jeffrey Moskowitz, Tel Aviv (IL); Nadav Shaag, Jerusalem (IL); and Natalie Carlebach, Ra'anana (IL)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Appl. No. 17/777,212
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
PCT Filed Mar. 1, 2021, PCT No. PCT/US2021/020272
§ 371(c)(1), (2) Date Sep. 9, 2022,
PCT Pub. No. WO2022/186814, PCT Pub. Date Sep. 9, 2022.
Prior Publication US 2024/0177417 A1, May 30, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/56 (2022.01); B60W 40/06 (2012.01); G06T 3/18 (2024.01); G06T 5/50 (2006.01); G06T 5/60 (2024.01); G06T 7/50 (2017.01); G06T 17/05 (2011.01)
CPC G06V 20/588 (2022.01) [B60W 40/06 (2013.01); G06T 3/18 (2024.01); G06T 5/50 (2013.01); G06T 5/60 (2024.01); G06T 7/50 (2017.01); G06T 17/05 (2013.01); B60W 2420/403 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 39 Claims
OG exemplary drawing
 
1. A method for modeling an environment, comprising:
obtaining a sequence of unrectified images representative of a road environment, the sequence of unrectified images including a first unrectified image, a previous unrectified image, and a previous-previous unrectified image;
calculating a best-fit homography from a pinhole homography and rectification parameters for a lens used to capture the first unrectified image;
warping the previous unrectified image and the previous-previous unrectified image to the first unrectified image using the best-fit homography, to obtain a warped previous unrectified image and a warped previous-previous unrectified image;
providing the first unrectified image, the warped previous unrectified image, and the warped previous-previous unrectified image to an artificial neural network (ANN) to produce a three-dimensional structure of a scene; and
applying the best-fit homography to the three-dimensional structure of the scene to create a model of the road environment.