Patent ID: 11899099
Assignee: QUALCOMM INCORPORATED
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 24:
25. An on-board computer of a host vehicle, comprising:
at least one processor configured to:
receive, from a camera sensor of the host vehicle, a plurality of camera frames;
receive, from a radar sensor of the host vehicle, a plurality of radar frames;
apply an encoder-decoder network on the first camera frame to generate a first camera feature map in a spatial domain of a first radar frame, wherein the first radar frame corresponds in time to the first camera frame;
combine the first radar frame and the first camera feature map to generate a first combined feature map in the spatial domain of the first radar frame; and

perform object detection on the first combined feature map to detect one or more objects in the first combined feature map without performance of object detection on the first camera feature map or the first radar frame; and
estimate a width, length, or both of the one or more objects in a bird's eye view, after inverse perspective mapping, based on a bounding box in the first camera frame encapsulating each of the one or more object.