Patent ID: 11904892
Assignee: GM CRUISE HOLDINGS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A non-transitory computer-readable storage medium comprising:
instructions stored on a non-transitory computer-readable storage medium, the instructions, when executed by one more processors, cause the one or more processors to:
simulate a scene, wherein the scene includes a simulated autonomous vehicle and at least one simulated object moving in the scene,
record image data collected from a camera sensor, the image data comprising a first 2D image frame comprising the at least one simulated object made up of a plurality of pixels at a first location, and a second 2D image frame comprising the at least one simulated object made up of a plurality of pixels at a second location;
identify a first 3D point on a first simulated object in a 3D view of the simulated scene, wherein the first 3D point corresponds to the first pixel in the first 2D image frame;
identify a second 3D point on the first simulated object in a 3D view of the simulated scene, wherein the second 3D point corresponds to a first pixel in the second 2D image frame;
determine a distance between the first pixel in the first 2D image frame at the first location and the first pixel in the second 2D image frame at the second location during a simulated movement of the at least one simulated object;
predict a velocity of the first point on the at least one simulated object based upon the determined distance;
compare the predicted velocity of the first point on the at least one simulated object to velocities in the velocity grid generated from the simulation, and
adjust the machine learn algorithm to more accurately predict velocity of at least one point on the at least one simulated object as it moves in the scene based on a difference in the predicted velocity compared to the velocity grid, which yields a trained machine-learning algorithm.