US 12,482,119 B2
Method, apparatus, and computer program product for estimating monocular depth within an image using observed image elements
Jani Kappi, Tampere (FI)
Assigned to HERE GLOBAL B.V., Eindhoven (NL)
Filed by HERE GLOBAL B.V., Eindhoven (NL)
Filed on Jun. 13, 2023, as Appl. No. 18/334,057.
Prior Publication US 2024/0420354 A1, Dec. 19, 2024
Int. Cl. G06T 7/55 (2017.01); B60W 60/00 (2020.01); G06T 7/73 (2017.01); G06V 20/58 (2022.01)
CPC G06T 7/55 (2017.01) [B60W 60/001 (2020.02); G06T 7/74 (2017.01); G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2556/40 (2020.02); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:
receive a two dimensional image of an environment captured by an image sensor;
use the two dimensional image as an input to a machine learning model;
receive, as output from the machine learning model, identification of one or more objects within the environment;
extract pixel coordinates of pixels associated with the one or more objects within the environment from the two dimensional image;
correlate the one or more objects within the environment with one or more map objects of map data;
determine a depth of the pixels associated with the one or more objects within the environment based on a location of the one or more map objects in the map data relative to the image sensor;
generate a depth map of the pixels associated with the one or more objects; and
provide for at least one of navigational assistance or at least partial autonomous control to a vehicle based, at least in part, on the depth map.