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

Claim 0:
1. A sensor processing system for vehicle perception, comprising:
a memory, configured to receive image data from a camera, wherein the image data comprises a current image and a next image;
a contour extractor, operatively coupled to the memory, wherein the contour extractor is configured to (i) determine a first contour of the current image relative to an optical center, and (ii) determine a second contour of the next image relative to the optical center; and
an affine contour matcher, operatively coupled to the contour extractor, wherein the affine contour matcher is configured to (i) scale the current image to the next image relative to the optical center, wherein the scaling comprises applying a scale vector to the first contour, (ii) determine a frame offset vector, and (iii) translate the second contour, based on the frame offset vector and the scale vector, to align the translated second contour to a focus of expansion,
wherein the sensor processing system is configured to determine 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.