公开(公告)号：US20240319375A1

公开(公告)日：2024-09-26

申请号：US18189720

申请日：2023-03-24

Applicant: GM Cruise Holdings LLC

Inventor： Zhanping Xu ,  Kartheek Chandu ,  Glenn D. Sweeney ,  Brandon S. Seilhan ,  Robert Vets ,  Mateusz Monterial ,  Paul Carrington Foster

IPC: G01S17/894 ,  G06T7/20 ,  G06T7/50

CPC classification number: G01S17/894 ,  G06T7/20 ,  G06T7/50

Abstract: Systems and techniques are provided for predicting precision of time-of-flight (TOF) sensor measurements. An example process includes receiving depth data associated with a frame, the depth data being captured by a TOF camera by illuminating a modulated signal of the TOF camera and receiving a reflected signal at the TOF camera, wherein the depth data comprises a plurality of correlation samples based on the reflected signal; receiving, from the TOF camera, grayscale image data corresponding to the frame; determining a modulation amplitude of the modulated signal based on the plurality of correlation samples; determining one or more parameters associated with at least one of the depth data and the grayscale image data; and determining a reliability of the depth data based on the modulation amplitude of the modulated signal, the grayscale image data, and the one or more parameters.