Patent ID: 11869253
Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 22:
23. At least one non-transitory machine-readable medium including instructions for modeling an environment, the instructions, when executed by processing circuitry, cause the processing circuitry to perform operations comprising:
obtaining a sequence of unrectified images representative of a road environment, the sequence of unrectified images including an initial unrectified image, a previous unrectified image, and a previous-previous unrectified image;
accessing the initial unrectified image, a warped previous unrectified image, a warped previous-previous unrectified image, wherein the warped previous unrectified image is based on a first best-fit homography between the previous unrectified image and the initial unrectified image, wherein the warped previous-previous unrectified image is based on a second best-fit homography between the previous-previous unrectified image and the initial unrectified image, and wherein the first and second best-fit homographies are based on a pinhole homography and rectification parameters for a lens used to capture the sequence of unrectified images;
providing the initial unrectified image, the warped previous unrectified image, and the warped previous-previous unrectified image to a trained network to produce a three-dimensional structure of a scene; and
applying the first or second best-fit homography to the three-dimensional structure of the scene to create a model of the road environment.