In various examples, an area under the vehicle is reconstructed in real-time using cached sensor data captured by the self-object and self-motion of the self-object. For example, image data captured by a vehicle over time may be cached into a composite map that visualizes a ground or drivable area, and an area of the composite map corresponding to an area below the vehicle may be retrieved using self-motion of the vehicle. For each time slice, a newly captured or generated image representing that time slice may be used to generate a local map of an observed portion of the ground surface, and the local map may be merged with a composite map representing a previously observed local map. Accordingly, the under-vehicle region of the time slice may be reconstructed by retrieving corresponding pixels from the composite map using the self-motion of the vehicle.
在各个示例中,使用由自我对象捕获的经缓存的传感器数据和自我对象的自我运动来实时重建车辆下方区域。例如,可以将车辆随时间捕获的图像数据缓存到将地面或可行驶区域可视化的合成地图中,并且可以使用车辆的自我运动来检索合成地图的与车辆下方区域相对应的区域。对于每个时间切片,表示该时间切片的新捕获或生成的图像可用于生成地面的被观察部分的局部地图,并且该局部地图可与表示先前观察的局部地图的合成地图合并。因此,可通过使用车辆的自我运动从合成地图中检索对应像素来重建该时间切片的车辆下方区域。
Under-vehicle reconstruction for vehicle environment visualization
用于车辆环境可视化的车辆下方重建
2024-09-27
Patent
Electronic Resource
Chinese
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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