Object detection

Patent metadata

Field	Value
Publication number	US-12333751-B2
Application number	US-202218053422-A
Country	US
Kind code	B2
Filing date	Nov 8, 2022
Priority date	Jan 19, 2022
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

Abstract

A computer that includes a processor and a memory, the memory including instructions executable by the processor can activate a plurality of light sources in an alternating pattern at an illumination frequency and acquire image data depicting light reflected from an object at a timing corresponding to the alternating pattern at the illumination frequency. In response to variations in the light impinging upon the object from the alternating pattern, an object contour can be determined based on estimating one or more object surface normals based on photometric stereo. One or more of object identity and object depth can be determined based on combining the object contour with the image data.

First claim

The invention claimed is:

1. A system, comprising:
a computer that includes a processor and a memory, the memory including instructions executable by the processor to:
activate light sources in a pattern at an illumination frequency;
acquire image data depicting light reflected from an object at a timing indicating the pattern at the illumination frequency;
acquire second image data without activating the light sources to determine global illumination;
in response to variations in the light reflected from the object based on the pattern, determine an object contour based on estimating an object surface normal determined by a photometric stereo technique; and
determine one or more of an identity and a depth of the object based on combining the object contour with the image data.

2. The system of claim 1 , wherein a spatial separation of the light sources is based on a maximum depth of the object.

3. The system of claim 2 , wherein the pattern is determined by sequentially activating the light sources.

4. The system of claim 1 , wherein the image data is captured at a frame rate and the illumination frequency is greater than the frame rate.

5. The system of claim 1 , wherein the light sources include a combination of taillights, reverse lights, turn indicators, headlights, fog lights, or auxiliary lights of a vehicle.

6. The system of claim 1 , wherein the instructions include further instructions to determine a change in illumination of the object due to activation of the light sources based on global illumination.

7. The system of claim 1 , wherein the instructions include further instructions to determine one or more of the identity and the depth of the object based on combining the object contour with the image data and a structure determined from motion data.

8. The system of claim 1 , wherein confidence in the object contour is determined based on determining changes in image data indicated by the pattern at the illumination frequency.

9. The system of claim 8 , wherein the confidence is used to determine whether the object contour is usable.

10. The system of claim 1 , wherein the instructions include further instructions to operate a vehicle based on one or more of the identity and the depth of the object.

11. The system of claim 10 , wherein the vehicle is operated at a speed at which a change in the depth of the object between updates is below a specified threshold.

12. The system of claim 10 , wherein operating the vehicle includes parking.

13. The system of claim 10 , wherein operating the vehicle includes locating a wireless charging pad.

14. The system of claim 1 , wherein the image data is acquired at a light level below a specified threshold.

15. The system of claim 14 , wherein the specified threshold is based on a lux level less than the lux level included in a dark, overcast day and/or indoors.

16. A method, comprising:
activating light sources in a pattern at an illumination frequency;
acquiring image data depicting light reflected from an object at a timing indicating the pattern at the illumination frequency;
acquire second image data without activating the light sources to determine global illumination;
in response to variations in the light reflected from the object based on the pattern, determining an object contour based on estimating an object surface normal determined by a photometric stereo technique; and
determining one or more of an identity and a depth of the object based on combining the object contour with the image data.

17. The method of claim 16 , wherein a spatial separation of the light sources is based on a maximum depth of the object.

18. The method of claim 17 , wherein the pattern is determined by sequentially activating the light sources.

19. The method of claim 16 , wherein the image data is captured at a frame rate and the illumination frequency is greater than the frame rate.

20. The method of claim 16 , wherein the light sources include a combination of taillights, reverse lights, turn indicators, headlights, fog lights, or auxiliary lights of a vehicle.

Assignees

• Ford Global Tech Llc

Inventors

• Herman david michael
• Vaidya Akshay
• Sanders Larry
• Sairamesh Binduhasini

Classifications

• G01B11/254

  Projection of a pattern, viewing through a pattern, e.g. moiré · CPC title

• G01B11/2531

  using several gratings, projected with variable angle of incidence on the object, and one detection device · CPC title

• Y02T10/7072

  Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors · CPC title

• G01B11/24

  for measuring contours or curvatures · CPC title

• G06T2207/30261

  Obstacle · CPC title