US 12,333,751 B2
Object detection
David Michael Herman, West Bloomfield, MI (US); Akshay Vaidya, Canton, MI (US); Larry Sanders, Monroe, MI (US); and Binduhasini Sairamesh, Milpitas, CA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Nov. 8, 2022, as Appl. No. 18/053,422.
Application 18/053,422 is a continuation in part of application No. 17/578,622, filed on Jan. 19, 2022, granted, now 12,148,222.
Prior Publication US 2023/0230267 A1, Jul. 20, 2023
Int. Cl. G06T 7/564 (2017.01); G01B 11/25 (2006.01)
CPC G06T 7/564 (2017.01) [G01B 11/2531 (2013.01); G01B 11/254 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a computer that includes a processor and a memory, the memory including instructions executable by the processor to:
activate light sources in a pattern at an illumination frequency;
acquire image data depicting light reflected from an object at a timing indicating the pattern at the illumination frequency;
acquire second image data without activating the light sources to determine global illumination;
in response to variations in the light reflected from the object based on the pattern, determine an object contour based on estimating an object surface normal determined by a photometric stereo technique; and
determine one or more of an identity and a depth of the object based on combining the object contour with the image data.