Patent ID: 11893799
Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A sensor processing system for vehicle perception, comprising:
a memory, configured to receive image data from a camera, wherein the image data comprises a current image and a next image;
a contour extractor apparatus, operatively coupled to the memory, wherein the contour extractor apparatus is configured to extract contours from the image data;
a projective contour matcher, operatively coupled to the memory, wherein the projective contour matcher is configured to
determine a first contour of the current image along a plurality of image row boundaries, wherein the first contour comprises a plurality of first contour points linked to each other via respective first edges between each first contour point,
determine a second contour of the next image along the plurality of image row boundaries, wherein the second contour comprises a plurality of second contour points linked to each other via respective second edges between each second contour point,
apply an image velocity vector to project each of the plurality of first contour points to the next image, wherein at least some of the projected first contour points are not located on an image row boundary; and

a contour tracker, operatively coupled to the projective contour matcher, wherein the contour tracker is configured to
process the projected contour points to determine projected edges forming a projected link between each projected contour point;
move the projected contour points along the projected link to align each of the moved projected contour points to a respective image boundary; and
link each of the moved projected contour points to each of the second contour points.