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

Claim 13:
14. A device for processing sensor data, comprising:
an input for receiving camera images from a camera and 3D-checkpoints from a 3D-sensor, wherein the camera images include a first camera image captured at a first time and a second image captured at a second time, and wherein the 3D-checkpointsare detected 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
a data fusion circuit for fusing the camera images with the 3D-checkpoints to form data of a virtual sensor;
wherein the data fusion circuit is further configured to:
calculate an optical flow from at least the first camera image and the second camera image;
select 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;
convert 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
project the 3D-checkpoints into the converted selected first or second selected camera image.