Patent ID: 11904891
Assignee: GM CRUISE HOLDINGS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implemented method for creating a velocity grid using a simulated environment for use by an autonomous vehicle, the method comprising:
simulating a road scenario with simulated objects;
recording image data collected from a camera sensor, the image data comprising a first two-dimensional (2D) image frame comprising the simulated objects made up of a plurality of pixels at a first location, and a second 2D image frame comprising the simulated objects made up of a plurality of pixels at a second location;
identifying a first three-dimensional (3D) point on a first simulated object in a 3D view of the simulated road scenario, wherein the first 3D point corresponds to the first pixel in the first 2D image frame;
identifying a second 3D point on the first simulated object in a 3D view of the simulated road scenario, wherein the second 3D point corresponds to a first pixel in the second 2D image frame;
determining a distance between the first pixel in the first 2D image frame at the first location and the first pixel in the second 2D image frame at the second location during a simulated movement of the simulated object;
generating a velocity of the first point based upon the determined distance;
projecting the velocity back into the first 2D image frame; and
encoding the velocity for the first pixel prior to a simulated movement of the simulated object with respect to a second pixel after the simulated movement of the simulated object in a 2D velocity grid.