The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 18, 2021
Filed:
Dec. 30, 2019
Toyota Research Institute, Inc., Los Altos, CA (US);
Massachusetts Institute of Technology, Cambridge, MA (US);
Felix Maximilian Naser, Cambridge, MA (US);
Igor Gilitschenski, Cambridge, MA (US);
Alexander Andre Amini, Cambridge, MA (US);
Christina Liao, Cambridge, MA (US);
Guy Rosman, Newton, MA (US);
Sertac Karaman, Cambridge, MA (US);
Daniela Rus, Weston, MA (US);
TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);
MASSACHUSETTS INSTITUE OF TECHNOLOGY, Cambridge, MA (US);
Abstract
A method of non-line-of-sight (NLoS) obstacle detection for an ego vehicle is described. The method includes capturing a sequence of images over a period with an image capture device. The method also includes storing the sequence of images in a cyclic buffer. The method further includes registering each image in the cyclic buffer to a projected image. The method includes performing the registering by estimating a homography H for each frame of the sequence of images to project to a view point of a first frame in the sequence of images and remove motion of the ego vehicle in the projected image. The method also includes enhancing the projected image. The method further includes classifying the projected image based on a scene determination. The method also includes issuing a control signal to the vehicle upon classifying the projected image.