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:
Aug. 06, 2024
Filed:
Mar. 02, 2022
Volvo Car Corporation, Gothenburg, SE;
Sihao Ding, Sunnyvale, CA (US);
Jianhe Yuan, Irving, TX (US);
Volvo Car Corporation, Gothenburg, SE;
Abstract
Methods and systems for unsupervised depth estimation for fisheye cameras using spatial-temporal (and, optionally, modal) consistency. This unsupervised depth estimation works directly on raw, distorted stereo fisheye images, such as those obtained from the four fisheye camera disposed around a vehicle in rigid alignment. Temporal consistency involves training a depth estimation model using a sequence of frames as input, while spatial consistency involves training the depth estimation model using overlapping images from synchronized stereo camera pairs. Images from different stereo camera pairs can also be used at different times. Modal consistency, when applied, dictates that different sensor types (e.g., camera, lidar, etc.) must also agree. The methods and systems of the present disclosure utilize a fisheye camera projection model that projects a disparity map into a point cloud map, which aides in the rectification of stereo pairs.