Patent ID: 11904891
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:
a storage configured to store instructions;
a processor configured to execute the instructions and cause the processor to:
simulate a road scenario with simulated objects, record image data collected from a camera sensor, the image data comprising a first two-dimensional (2D) image frame comprising the simulated objects made up of a plurality of pixels at a first location, and a second 2D image frame comprising the simulated objects made up of a plurality of pixels at a second location, identify a first three-dimensional (3D) point on the first simulated object in a 3D view of the simulated road scenario, 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 road scenario, 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 simulated object, generate a velocity of the first point based upon the determined distance, project the velocity back into the first 2D image frame, and
encode the velocity for the first pixel prior to a simulated movement of the simulated object with respect to a second pixel after the simulated movement of the simulated object in a 2D velocity grid.