US 12,475,574 B2
Methods and systems for a detection of objects that are likely to fall from vehicle cargo
Seyhan Ucar, Mountain View, CA (US); Emrah Akin Sisbot, Mountain View, CA (US); and Kentaro Oguchi, Mountain View, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Jul. 7, 2022, as Appl. No. 17/859,202.
Prior Publication US 2024/0013408 A1, Jan. 11, 2024
Int. Cl. G06T 7/246 (2017.01); G06T 7/73 (2017.01); G06V 10/75 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/248 (2017.01) [G06T 7/73 (2017.01); G06V 10/751 (2022.01); G06V 20/58 (2022.01); G06T 2207/20081 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining a set of data including first data of a cargo of a first vehicle captured at a first time, wherein each of the set of data represents a view of the cargo taken at different times;
obtaining second data of the cargo captured by a second vehicle in an environment of the first vehicle at a second time after the first time;
determining whether an angle from which the second data was obtained corresponds to an angle from which the first data was obtained; and
when it is determined that the angle from which the second data was obtained corresponds to the angle from which the first data was obtained:
determining a first distance between two key points of the first data,
determining a second distance between two key points of the second data, and
detecting a movement of the cargo when a deviation between the first distance and the second distance exceeds a predetermined threshold,
wherein the key points of the first data and the key points of the second data comprise points on at least one of the first vehicle and the cargo, and
wherein the set of data, the first data, and the second data each comprise at least one of image data captured by a camera and point data captured by at least one of a LIDAR sensor, radar sensor, and/or sonar sensor.