US 11,953,602 B2
Detecting three-dimensional structure models at runtime in vehicles
Brent N. Bacchus, Sterling Heights, MI (US); Rakesh Kumar, Markham (CA); and Keun Jae Kim, Novi, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 18, 2020, as Appl. No. 16/951,502.
Prior Publication US 2022/0155451 A1, May 19, 2022
Int. Cl. G01S 17/89 (2020.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G06N 3/02 (2006.01); G06V 20/56 (2022.01)
CPC G01S 17/89 (2013.01) [G01S 17/86 (2020.01); G01S 17/931 (2020.01); G06N 3/02 (2013.01); G06V 20/56 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for detecting one or more three-dimensional structures in a proximity of a vehicle at runtime, the computer-implemented method comprising:
generating, by a processor, using a camera, a birds-eye-view (BEV) camera image of the proximity of the vehicle, the BEV camera image comprising two-dimensional coordinates of one or more structures in the proximity;
generating, by the processor, a BEV height image of the proximity of the vehicle, the BEV height image providing height of the one or more structures in the proximity;
detecting, by the processor, one or more edges of the one or more three-dimensional structures in the proximity based on the BEV camera image and the BEV height image;
generating, by the processor, models of the one or more three-dimensional structures in the proximity of the vehicle by plane-fitting based on the edges of the one or more three-dimensional structures; and
reconfiguring, by the processor, a navigation system receiver based on the models of the one or more three-dimensional structures in the proximity of the vehicle wherein reconfiguring the navigation system receiver includes changing a frequency being used by the navigation system receiver.