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:
Apr. 03, 2018
Filed:
Feb. 09, 2017
Hrl Laboratories, Llc, Malibu, CA (US);
Fredy Monterroza, Canoga Park, CA (US);
Kyungnam Kim, Oak Park, CA (US);
Deepak Khosla, Camarillo, CA (US);
HRL Laboratories, LLC, Malibu, CA (US);
Abstract
Described is a robotic system for detecting obstacles reliably with their ranges by a combination of two-dimensional and three-dimensional sensing. In operation, the system receives an image from a monocular video and range depth data from a range sensor of a scene proximate a mobile platform. The image is segmented into multiple object regions of interest and time-to-contact (TTC) value are calculated by estimating motion field and operating on image intensities. A two-dimensional (2D) TTC map is then generated by estimating average TTC values over the multiple object regions of interest. A three-dimensional TTC map is then generated by fusing the range depth data with image. Finally, a range-fused TTC map is generated by averaging the 2D TTC map and the 3D TTC map.