US 12,033,333 B2
Object detection and tracking for autonomous driving utilizing shadows and reflections
Wenlong Yang, Shanghai (CN); Daniel Pohl, Puchheim (DE); and Tomer Rider, Naahryia (IL)
Assigned to Intel Corporation, Santa Clara, CA (US)
Appl. No. 16/973,845
Filed by INTEL CORPORATION, Santa Clara, CA (US)
PCT Filed Sep. 5, 2018, PCT No. PCT/CN2018/104138
§ 371(c)(1), (2) Date Dec. 10, 2020,
PCT Pub. No. WO2020/047768, PCT Pub. Date Mar. 12, 2020.
Prior Publication US 2021/0125343 A1, Apr. 29, 2021
Int. Cl. G06T 7/246 (2017.01); G06T 7/507 (2017.01)
CPC G06T 7/246 (2017.01) [G06T 7/507 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An electronic processing system, comprising:
a processor;
memory communicatively coupled to the processor; and
logic communicatively coupled to the processor to:
analyze an electronic image to determine indirect information including shadow information and reflection information,
provide the indirect information to a vehicle guidance system of an autonomous vehicle,
detect an object based on the indirect information by creating a shadow depth map containing a distance of the object from a light source and determining, for every pixel, when a point on a ground is shaded by projecting a depth value from the shadow depth map back onto the ground,
add the detected object to a scene,
make an autonomous vehicle guidance decision based on the scene to which the detected object is added, and
track the detected object based on the indirect information.