US 12,394,012 B2
Systems, methods, and apparatus for aligning image frames
Jia Feng, Mountain View, CA (US); and Lucian Ion, Santa Clara, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Sep. 30, 2021, as Appl. No. 17/490,991.
Prior Publication US 2023/0097592 A1, Mar. 30, 2023
Int. Cl. G06T 3/40 (2024.01); G06T 7/33 (2017.01); G06V 10/22 (2022.01); G06V 10/75 (2022.01)
CPC G06T 3/40 (2013.01) [G06T 7/337 (2017.01); G06V 10/22 (2022.01); G06V 10/751 (2022.01); G06T 2207/20016 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a processor, a plurality of image frames from an image capture device;
downsizing each of the plurality of image frames to generate a plurality of versions of each image frame at a plurality of different sizes;
determining alignment information for a first version of a first image frame, the alignment information including a first alignment vector for identifying image data in a first version of a second image frame that corresponds to image data in the first version of the first image frame; and
determining a first initial alignment vector for identifying image data in a first version of a third image frame based on at least the first alignment vector.