US 11,842,546 B2
Sensor fusion-based top-view three-dimensional stixel representation for general obstacle detection in a vehicle
Keren Rotker, Tel-Aviv (IL); Max Bluvstein, Nahariya (IL); and Bat El Shlomo, Tel-Aviv (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on May 13, 2021, as Appl. No. 17/319,570.
Prior Publication US 2022/0366176 A1, Nov. 17, 2022
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01); G06N 3/08 (2023.01); G06F 18/25 (2023.01)
CPC G06V 20/58 (2022.01) [B60W 60/001 (2020.02); G06F 18/25 (2023.01); G06N 3/08 (2013.01); B60W 2420/42 (2013.01); B60W 2554/4049 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A system in a vehicle, the system comprising:
a first sensor configured to obtain first sensor data from a first field of view and provide a first top-view feature representation;
a second sensor configured to obtain second sensor data from a second field of view with an overlap with the first field of view and provide a second top-view feature representation; and
processing circuitry configured to implement a neural network and to:
provide a top-view three-dimensional stixel representation based on the first top-view feature representation and the second top-view feature representation, wherein the top-view three-dimensional stixel representation is used to control an operation of the vehicle;
fuse the first top-view feature representation and the second top-view feature representation;
convert the fused top-view feature representation to a polar coordinate system to obtain a fused top-view three-dimensional stixel representation, each stixel of the top-view three-dimensional stixel representation being encoded with values of two or more attributes; and
perform general obstacle detection based on the fused top-view three-dimensional stixel representation using a neural network, wherein the two or more attributes include distance to an object detected based on the general obstacle detection and height of the object.