Patent ID: 11919508
Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. A method for vehicle perception, comprising:
receiving image data from a camera, wherein the image data comprises a current image and a next image;
determining, via a contour extractor, a first contour of the current image relative to an optical center;
determining, via the contour extractor, a second contour of the next image relative to the optical center;
scaling, via an affine contour matcher, the current image to the next image relative to the optical center, wherein the scaling comprises applying a scale vector to the first contour;
determining, via the affine contour matcher, a frame offset vector, and translating the second contour, based on the frame offset vector and the scale vector, to align the translated second contour to a focus of expansion; and
determining an image velocity based on the first contour and the translated second contour, wherein the image velocity is used to determine object movement from the image data.