CPC G06T 7/269 (2017.01) [G01S 13/867 (2013.01); G01S 13/931 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] | 17 Claims |
1. Method for processing sensor data, comprising:
obtaining camera images by a camera including a first camera image captured at a first time and a second image captured at a second time;
detecting 3D-checkpoints by at least one 3D-sensor at a 3D-checkpoint detection time after the first time of the first camera image and before the second time of the second camera image; and
fusing the camera images with the 3D-checkpoints to form data of a virtual sensor, wherein fusing the camera images with the 3D-checkpoints comprises:
calculating an optical flow from at least the first camera image and the second camera image;
selecting either the first camera image or the second camera image based on whether the 3D-checkpoint detection time is closer in time to the first time of the first camera image or the second time of the second camera image;
converting the selected first or second camera image to the 3D-checkpoint detection time based at least on the optical flow and a time difference between the respective first time or second time of the selected first or second camera image and the 3D-checkpoint detection time; and
projecting the 3D-checkpoints into the converted selected first or second selected camera image.
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