Patent ID: 11915487
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 12:
13. A non-transitory computer-readable medium for generating depth estimates of an environment and including instructions that when executed by one or more processors cause the one or more processors to:
receive a plurality of monocular images, each of the plurality of monocular images capturing substantially the same environment of interest;
process each of the monocular images according to an overfit depth model to generate a plurality of depth maps;
filter the plurality of depth maps to remove non-static objects by comparing non-consecutive depth maps of a route trajectory;
generate from the plurality of depth maps a permanent three-dimensional reconstruction of the environment and the route trajectory including locations of obstacles; and
plan a trajectory of a car that safely navigates the obstacles.