US 12,299,903 B2
Global motion modeling for automotive image data
Louis Joseph Kerofsky, San Diego, CA (US); Geert Van Der Auwera, San Diego, CA (US); Marta Karczewicz, San Diego, CA (US); Kuan-Ting Shen, National City, CA (US); Dangdang Shao, Fremont, CA (US); Khalid Tahboub, San Diego, CA (US); and Bing Han, San Diego, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Sep. 1, 2022, as Appl. No. 17/929,242.
Prior Publication US 2024/0078684 A1, Mar. 7, 2024
Int. Cl. H04N 23/62 (2023.01); G06T 5/80 (2024.01); G06T 7/20 (2017.01); G06T 7/238 (2017.01); G06T 7/246 (2017.01); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01); B60R 1/20 (2022.01); B60R 11/04 (2006.01); G06T 7/231 (2017.01); G06V 20/52 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/248 (2017.01) [G06T 5/80 (2024.01); G06T 7/20 (2013.01); G06T 7/238 (2017.01); G06T 7/70 (2017.01); G06T 7/74 (2017.01); G06T 7/80 (2017.01); H04N 23/62 (2023.01); B60R 1/20 (2022.01); B60R 11/04 (2013.01); B60R 2300/00 (2013.01); B60W 2420/403 (2013.01); G06T 7/231 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20068 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01); G06T 2219/2016 (2013.01); G06V 20/52 (2022.01); G06V 20/58 (2022.01)] 26 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a first image and a second image from a camera attached to a moving object;
identifying a pixel in the first image;
determining, based on parameters associated with the camera, a vector representing a range of locations in which a real-world point corresponding to the pixel is likely to be found in the second image, wherein:
the parameters associated with the camera comprise:
a first parameter related to a location of the camera relative to a ground surface;
a second parameter related to motion of the moving object; and
a third parameter related to an orientation of the camera relative to the ground surface, and
determining the vector is based on projecting a plane that is parallel to the ground surface onto the first image based on the location of the camera relative to the ground surface and the orientation of the camera relative to the ground surface, wherein the vector lies along the plane; and
determining using the vector a location of the real-world point in the second image.