US 12,243,321 B2
Method for determining a semantic free space
Jakub Derbisz, Cracow (PL)
Assigned to APTIVE TECHNOLOGIES AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Dec. 2, 2021, as Appl. No. 17/457,407.
Claims priority of application No. 20211232 (EP), filed on Dec. 2, 2020.
Prior Publication US 2022/0171975 A1, Jun. 2, 2022
Int. Cl. G06V 20/56 (2022.01); G06F 18/2431 (2023.01); G06T 7/70 (2017.01); G06V 10/94 (2022.01)
CPC G06V 20/56 (2022.01) [G06F 18/2431 (2023.01); G06T 7/70 (2017.01); G06V 10/95 (2022.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
capturing, via a camera of a vehicle in an environment, a two dimensional visual image of the environment;
determining, with a processor of the vehicle, within the visual image, a limitation of a free space with respect to the vehicle;
capturing, via a sensor of the vehicle, for objects in the environment, three dimensional distance data with respect to the vehicle;
based on assigning the distance data to the visual image, transferring the limitation of the free space from the visual image to a bird's-eye view, with respect to the vehicle;
determining, for each object identified in the visual image, a bounding box and a classification;
selecting objects identified in the visual image that are limiting the free space;
assigning the bounding box of each of the objects selected to the limitation of the free space transferred to the bird's-eye view; and
according to the classification of each of the objects selected, classifying segments of the limitation of the free space transferred to the bird's-eye view, thereby determining a semantic free space in the environment of the vehicle,
wherein determining the limitation of the free space comprises determining the limitation of the free space based on executing a border following algorithm to determine the limitation of the free space as being a continuously extending contour of the free space.