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13 条记录 (耗时 0.017 秒)

    Real-time confidence-based image hole-filling for depth maps
    2.
    发明授权
    Real-time confidence-based image hole-filling for depth maps 有权

    公开(公告)号：US12094144B1

    公开(公告)日：2024-09-17

    申请号：US18340806

    申请日：2023-06-23

    申请人： NODAR Inc.

    发明人： Vikram Shree ,  Piotr Swierczynski ,  Leaf Alden Jiang

    IPC分类号： G06T7/593 ,  G06T5/20 ,  G06T5/77

    CPC分类号： G06T7/593 ,  G06T5/20 ,  G06T5/77 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30252

    摘要： A system and a method are provided for repairing a depth map. The repairing includes representing pixels of the depth map using a matrix H having values corresponding to depths, the pixels including hole pixels and non-hole pixels; determining a confidence mask matrix C for the depth map; for each hole pixel, determining a kernel G of neighboring pixels, the neighboring pixels having values corresponding to a predetermined distribution, and convolving the kernel G with corresponding portions of the matrix C and the matrix H to obtain an estimated depth; generating a corrected matrix Ĥ in which values for non-hole pixels are retained and in which the hole pixels have values corresponding to their estimated depths. The estimated depths may be normalized based on the matrix C. An updated depth map based on the corrected matrix Ĥ may be outputted to a control system of a vehicle.

    3D VISION SYSTEM WITH AUTOMATICALLY CALIBRATED STEREO VISION SENSORS AND LIDAR SENSOR
    3.
    发明公开
    3D VISION SYSTEM WITH AUTOMATICALLY CALIBRATED STEREO VISION SENSORS AND LIDAR SENSOR 审中-公开

    公开(公告)号：US20240183963A1

    公开(公告)日：2024-06-06

    申请号：US18449886

    申请日：2023-08-15

    申请人： NODAR Inc.

    发明人： Piotr Swierczynski ,  Leaf Alden Jiang ,  Matthew Beveridge

    IPC分类号： G01S7/497 ,  G01S17/894 ,  G01S17/931 ,  G06T7/80

    CPC分类号： G01S7/4972 ,  G01S17/894 ,  G01S17/931 ,  G06T7/85 ,  G06T2207/10028

    摘要： An automatically calibrated vision system includes: a vision calibration system; a first sensor system that receives first data of a scene captured by a first sensor on a movable machine and outputs a first map based on the first data; a second sensor system that receives second data of the scene captured by a second sensor on the movable machine and outputs a second map based on the second data. The vision calibration system computes calibration data based on the first and second maps, supplies the calibration data to the first sensor system and/or the second sensor system for automatic calibration of the first sensor system and/or the second sensor system, and outputs, to a controller of the movable machine, a calibrated depth map comprised of depth measurements calibrated using the calibration data. The first sensor system and/or the second sensor system automatically perform(s) a self-calibration using the calibration data.

    Stereo vision system and method for small-object detection and tracking in real time
    6.
    发明授权
    Stereo vision system and method for small-object detection and tracking in real time 有权

    公开(公告)号：US12125215B1

    公开(公告)日：2024-10-22

    申请号：US18678781

    申请日：2024-05-30

    申请人： NODAR Inc.

    发明人： Vikram Shree ,  Leaf Alden Jiang ,  Piotr Swierczynski

    IPC分类号： G06T7/20 ,  G06T5/70 ,  G06T17/00 ,  G06V20/56

    CPC分类号： G06T7/20 ,  G06T5/70 ,  G06T17/00 ,  G06V20/56 ,  G06V2201/07

    摘要： A method of detecting and tracking objects includes (a) obtaining point-cloud data captured by camera sensors on a vehicle travelling along a road surface, (b) compressing the point-cloud data to bird's-eye-view (BEV) data representing a view along a BEV direction oriented approximately perpendicular to the road surface, the BEV data representing the objects on a BEV plane oriented approximately parallel the road surface, (c) establishing a grid of cells for the BEV plane, (d) for each cell, determining occupancy values of the cell for a time tn and performing noise reduction by assigning weights to the cell based on predicted occupancy values of the cell for the time tn and on occupancy values of the cell for a previous time tn−1, and (e) outputting to a controller of the vehicle, in real time or nearly real time, an occupancy evidence map of objects in the vehicle's environment.

    NON-RIGID STEREO VISION CAMERA SYSTEM
    7.
    发明申请
    NON-RIGID STEREO VISION CAMERA SYSTEM 有权

    公开(公告)号：US20210350576A1

    公开(公告)日：2021-11-11

    申请号：US17380462

    申请日：2021-07-20

    申请人： NODAR Inc.

    发明人： Leaf Alden Jiang ,  Philip Bradley Rosen ,  Piotr Swierczynski

    IPC分类号： G06T7/80 ,  G06K9/00 ,  H04N13/243 ,  H04N13/271 ,  G06T7/90 ,  G06T7/593 ,  H04N17/00 ,  B60W40/02

    摘要： A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.

    NON-RIGID STEREO VISION CAMERA SYSTEM
    8.
    发明申请
    NON-RIGID STEREO VISION CAMERA SYSTEM 有权

    公开(公告)号：US20210327092A1

    公开(公告)日：2021-10-21

    申请号：US17365623

    申请日：2021-07-01

    申请人： NODAR Inc.

    发明人： Leaf Alden Jiang ,  Philip Bradley Rosen ,  Piotr Swierczynski

    IPC分类号： G06T7/80 ,  G06T7/00

    摘要： A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.