Patent ID: 11935250
Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. Method for processing sensor data, comprising:
obtaining camera images by a camera including a first camera image captured at a first time and a second image captured at a second time;
detecting 3D-checkpoints by at least one 3D-sensor at a 3D-checkpoint detection time after the first time of the first camera image and before the second time of the second camera image; and
fusing the camera images with the 3D-checkpoints to form data of a virtual sensor, wherein fusing the camera images with the 3D-checkpoints comprises:
calculating an optical flow from at least the first camera image and the second camera image;
selecting either the first camera image or the second camera image based on whether the 3D-checkpoint detection time is closer in time to the first time of the first camera image or the second time of the second camera image;
converting the selected first or second camera image to the 3D-checkpoint detection time based at least on the optical flow and a time difference between the respective first time or second time of the selected first or second camera image and the 3D-checkpoint detection time; and
projecting the 3D-checkpoints into the converted selected first or second selected camera image.