BELIEF PROPAGATION FOR RANGE IMAGE MAPPING IN AUTONOMOUS MACHINE APPLICATIONS

• Main Authors: Wehr, David, Pehserl, Joachim, Eden, Ibrahim
• Format: Patent
• Language: English
• Published: 08.08.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; CONTROLLING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

In various examples, systems and methods are described that generate scene flow in 3D space through simplifying the 3D LiDAR data to "2.5D" optical flow space (e.g., x, y, and depth flow). For example, LiDAR range images may be used to generate 2.5D representations of depth flow information between frames of LiDAR data, and two or more range images may be compared to generate depth flow information, and messages may be passed-e.g., using a belief propagation algorithm-to update pixel values in the 2.5D representation. The resulting images may then be used to generate 2.5D motion vectors, and the 2.5D motion vectors may be converted back to 3D space to generate a 3D scene flow representation of an environment around an autonomous machine.