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公开(公告)号：US20250166354A1
公开(公告)日：2025-05-22
申请号：US18511592
申请日：2023-11-16
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Kiran Bangalore Ravi , Senthil Kumar Yogamani
IPC: G06V10/77 , G06V10/764 , G06V10/774 , G06V10/80 , G06V10/82 , G06V20/58
Abstract: A method of image processing includes receiving a set of images from a sensor, dynamically determining respective cell resolutions of respective cells in a bird's-eye-view (BEV) grid based on image content in the set of images, wherein at least two of the cells have different cell resolutions, and generating BEV image content based on the respective cell resolutions of the respective cells.
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2.发明申请公开(公告)号：US20250166216A1
公开(公告)日：2025-05-22
申请号：US18516590
申请日：2023-11-21
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Senthil Kumar Yogamani , Venkatraman Narayanan
Abstract: An example device for detecting objects through processing of media data, such as image data and point cloud data, includes a processing system configured to form voxel representations of a real-world three-dimensional (3D) space using images and point clouds captured for the 3D space at consecutive time steps, extract image and/or point cloud features for voxels in voxel representations of the 3D space, determine correspondences between the voxels at consecutive time steps according to similarities between the extracted features, and determine positions of objects in the 3D space using the correspondences between the voxels. For example, the processing system may perform triangulation according to positions of a moving object to positions of the voxels at the time steps. In this manner, the processing system may generate an accurate bird's eye view (BEV) representation of the real-world 3D space.
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公开(公告)号：US20250080685A1
公开(公告)日：2025-03-06
申请号：US18462191
申请日：2023-09-06
Applicant: QUALCOMM Incorporated
Inventor： Ming-Yuan Yu , Varun Ravi Kumar , Senthil Kumar Yogamani
Abstract: A method of image processing includes receiving first feature data from image content captured with a sensor, the first feature data having a first set of states with values that change non-linearly over time, generating second feature data based at least in part on the first feature data, the second feature data having a second set of states with values that change approximately linearly over time relative to a linear operator, wherein the second set of states is greater than the first set of states, and predicting movement of one or more objects in the image content based at least in part on the second feature data.
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公开(公告)号：US20250076487A1
公开(公告)日：2025-03-06
申请号：US18462196
申请日：2023-09-06
Applicant: QUALCOMM Incorporated
Inventor： Madhumitha Sakthi , Louis Joseph Kerofsky , Senthil Kumar Yogamani
IPC: G01S13/86 , G01S13/931 , G06T7/50 , G06V10/75
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method includes receiving a first image frame from a first camera; receiving second image frame from a second camera. The fields-of-view of the cameras partially overlap. A set of coordinates associated with pixel values of the first image frame and pixel values of the second image frame are determined. The set of coordinates correspond to an overlap of the first field-of-view and the second field-of-view. A first uncertainty window metric is determined based the set of coordinates and first uncertainty values. A second uncertainty window metric is determined based on the first uncertainty values and second uncertainty values associated with RADAR. Fused depth data is determined based on the set of coordinates, the RADAR data, and the first and second uncertainty window metrics. Other aspects and features are also claimed and described.
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公开(公告)号：US20250050894A1
公开(公告)日：2025-02-13
申请号：US18448034
申请日：2023-08-10
Applicant: QUALCOMM Incorporated
Inventor： Kiran Bangalore Ravi , Varun Ravi Kumar , Senthil Kumar Yogamani
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. A method is disclosed for aligning top-down features from two sensor arrangements and generating vehicle control instructions. The method includes receiving first sensor data from a first sensor arrangement and second sensor data from a second sensor arrangement. The method further includes determining a first set of top-down and a second set of top-down features based on the sensor data. A transformation is determined based on the first set of top-down features and the second set of top-down features to align the second set of top-down features with the first set of top-down features. Finally, vehicle control instructions for a vehicle are determined based on the transformation. Other aspects and features are also claimed and described.
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Patent Agency Ranking
公开(公告)号：US20240420293A1
公开(公告)日：2024-12-19
申请号：US18336580
申请日：2023-06-16
Applicant: QUALCOMM Incorporated
Inventor： Deeksha Dixit , Varun Ravi Kumar , Senthil Kumar Yogamani
IPC: G06T5/00 , G06T7/00 , G06V10/764 , G06V10/776 , G06V20/58
Abstract: A method of processing image data includes receiving, with a frame correction machine-learning (ML) model executing on processing circuitry, an image frame captured from a first camera of a plurality of cameras; performing, with the frame correction ML model executing on the processing circuitry, image frame correction to generate a corrected image frame based on weights or biases of the frame correction ML model applied to two or more of: samples of the image frame, samples of previously captured image frames from the first camera, or samples from image frames from other cameras of the plurality of cameras; and performing, with the processing circuitry, post-processing based on the corrected image frame.
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公开(公告)号：US20240221132A1
公开(公告)日：2024-07-04
申请号：US18500901
申请日：2023-11-02
Applicant: QUALCOMM Incorporated
Inventor： Louis Joseph Kerofsky , Kuan-Ting Shen , Madhumitha Sakthi , Senthil Kumar Yogamani
CPC classification number: G06T5/005 , G06T5/002 , G06T5/50 , G06T7/292 , G06T7/60 , H04N5/265 , G06T2207/20212 , G06T2207/30252
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method of image processing includes receiving first image data from a first image sensor of a first camera, receiving second image data from a second image sensor of a second camera, wherein a first field of view of the second image data overlaps at least a portion of a second field of view of the first image data, generating, based on the first image data and the second image data, a bird's eye view composite image, detecting one or more holes in the bird's eye view composite image, and filling the one or more holes in the bird's eye view composite image using one or more rays of the first camera. Other aspects and features are also claimed and described.
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公开(公告)号：US20250157179A1
公开(公告)日：2025-05-15
申请号：US18506583
申请日：2023-11-10
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Meysam Sadeghigooghari , Senthil Kumar Yogamani
Abstract: An apparatus is configured to fuse features from a plurality of camera images using a set of learnable parameters. The apparatus may extract features from a respective image from each camera of a plurality of cameras, and fuse the features into a fused image having a grid structure. To fuse the features the apparatus may determine a contribution of the respective image from each of the plurality of cameras to a respective cell of the grid structure, and aggregate, based on the contribution to the respective cell and a respective set of learnable parameters for each cell, the features from each of the respective images to each respective cell of the fused image to generate aggregated features.
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公开(公告)号：US20250095379A1
公开(公告)日：2025-03-20
申请号：US18468399
申请日：2023-09-15
Applicant: QUALCOMM Incorporated
Inventor： Madhumitha Sakthi , Louis Joseph Kerofsky , Senthil Kumar Yogamani
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method includes receiving a first image frame from the first camera and a second image frame from the second camera. The method may also include determining a first set of optical flows between the first image frame and the second image frame and determining a second set of optical flows based on the first set of optical flows and positions of the first camera and the second camera on the vehicle. Position data may be determined for objects in an area surrounding the vehicle based on the second set of optical flows. Other aspects and features are also claimed and described.
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10.发明申请公开(公告)号：US20250078294A1
公开(公告)日：2025-03-06
申请号：US18458654
申请日：2023-08-30
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Debasmit Das , Senthil Kumar Yogamani
Abstract: A method includes receiving one or more images, wherein at least one of the one or more images depicts a water region and analyzing, by one or more processors, the one or more images using a first machine learning model to determine a depth of the water region. The method also includes analyzing, by the one or more processors, the one or more images using a second machine learning model to determine a surface normal of the water region and performing, by the one or more processors, using a third machine learning model, multi-class segmentation of the one or more images. Additionally, the method includes performing one or more fusion operations on outputs of at least two of the first machine learning model, the second machine learning model and the third machine learning model to generate a classification of the water region.
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