US 12,475,596 B2
System for operating a movable device
Spencer Carmichael, Ann Arbor, MI (US); Ramanarayan Vasudevan, Ann Arbor, MI (US); Katherine Skinner, Ann Arbor, MI (US); Rahul Kumar Agrawal, Ann Arbor, MI (US); Alexandra Carlson, Palo Alto, CA (US); Gaurav Pandey, College Station, TX (US); and Mostafa Parchami, Ann Arbor, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jun. 29, 2023, as Appl. No. 18/344,027.
Prior Publication US 2025/0005789 A1, Jan. 2, 2025
Int. Cl. G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (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:
generate a current keyframe point cloud based on pairs of stereo images while a stereo camera travels through a scene;
determine a similar viewpoint query matrix and an opposing viewpoint query matrix based on the current keyframe point cloud wherein the opposing viewpoint query matrix is determined by flipping the similar viewpoint query matrix laterally and longitudinally by exchanging opposing rows and columns of the similar viewpoint query matrix;
generate a distance matrix and an opposing view distance matrix by comparing the similar viewpoint query matrix and the opposing viewpoint query matrix to reference matrices; and
determine a relative pose between a stereo camera and a reference to determine a location in the scene during travel of the stereo camera through the scene by performing sequence matching in the distance matrix and the opposing view distance matrix to determine a minimum sequence.