Patents by Inventor Prashanth Ramanathpur Viswanath
Prashanth Ramanathpur Viswanath has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11763568Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: GrantFiled: December 8, 2020Date of Patent: September 19, 2023Assignee: Texas Instruments IncorporatedInventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Patent number: 11615629Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: GrantFiled: March 9, 2021Date of Patent: March 28, 2023Assignee: Texas Instruments IncorporatedInventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyeb Nagori, Manu Mathew
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Publication number: 20210287021Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: ApplicationFiled: March 9, 2021Publication date: September 16, 2021Inventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyeb Nagori, Manu Mathew
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Patent number: 10977502Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: GrantFiled: February 11, 2019Date of Patent: April 13, 2021Assignee: TEXAS INSTRUMENTS INCORPORATEDInventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyeb Nagori, Manu Mathew
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Publication number: 20210088331Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: ApplicationFiled: December 8, 2020Publication date: March 25, 2021Inventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Patent number: 10890445Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: GrantFiled: November 9, 2018Date of Patent: January 12, 2021Assignee: TEXAS INSTRUMENTS INCORPORATEDInventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Patent number: 10657389Abstract: A vehicular structure from motion (SfM) system can store a number of image frames acquired from a vehicle-mounted camera in a frame stack according to a frame stack update logic. The SfM system can detect feature points, generate flow tracks, and compute depth values based on the image frames, the depth values to aid control of the vehicle. The frame stack update logic can select a frame to discard from the stack when a new frame is added to the stack, and can be changed from a first in, first out (FIFO) logic to last in, first out (LIFO) logic upon a determination that the vehicle is stationary. An optical flow tracks logic can also be modified based on the determination. The determination can be made based on a dual threshold comparison to insure robust SfM system performance.Type: GrantFiled: June 7, 2019Date of Patent: May 19, 2020Assignee: TEXAS INSTRUMENTS INCORPORATEDInventors: Prashanth Ramanathpur Viswanath, Soyeb Nagori, Manu Mathew
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Publication number: 20200026933Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: ApplicationFiled: February 11, 2019Publication date: January 23, 2020Inventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyeb Nagori, Manu Mathew
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Publication number: 20190286919Abstract: A vehicular structure from motion (SfM) system can store a number of image frames acquired from a vehicle-mounted camera in a frame stack according to a frame stack update logic. The SfM system can detect feature points, generate flow tracks, and compute depth values based on the image frames, the depth values to aid control of the vehicle. The frame stack update logic can select a frame to discard from the stack when a new frame is added to the stack, and can be changed from a first in, first out (FIFO) logic to last in, first out (LIFO) logic upon a determination that the vehicle is stationary. An optical flow tracks logic can also be modified based on the determination. The determination can be made based on a dual threshold comparison to insure robust SfM system performance.Type: ApplicationFiled: June 7, 2019Publication date: September 19, 2019Inventors: Prashanth Ramanathpur Viswanath, Soyeb Nagori, Manu Mathew
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Patent number: 10248872Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: GrantFiled: October 19, 2016Date of Patent: April 2, 2019Assignee: TEXAS INSTRUMENTS INCORPORATEDInventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyed Nagori, Manu Mathew
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Publication number: 20190078880Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: ApplicationFiled: November 9, 2018Publication date: March 14, 2019Inventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Patent number: 10186024Abstract: Methods and systems providing for real time structure from motion (SfM) processing in a computer vision system receiving images from a monocular camera are disclosed. The real time SfM processing described exploits constraints of the three dimensional (3D) environment that can be assumed for automotive applications and other applications with similar constraints.Type: GrantFiled: June 29, 2016Date of Patent: January 22, 2019Assignee: Texas Instruments IncorporatedInventors: Soyeb Nagori, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Patent number: 10156441Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: GrantFiled: September 2, 2016Date of Patent: December 18, 2018Assignee: TEXAS INSTRUMENTS INCORPORATEDInventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Publication number: 20180107883Abstract: A method for estimating time to collision (TTC) of a detected object in a computer vision system is provided that includes determining a three dimensional (3D) position of a camera in the computer vision system, determining a 3D position of the detected object based on a 2D position of the detected object in an image captured by the camera and an estimated ground plane corresponding to the image, computing a relative 3D position of the camera, a velocity of the relative 3D position, and an acceleration of the relative 3D position based on the 3D position of the camera and the 3D position of the detected object, wherein the relative 3D position of the camera is relative to the 3D position of the detected object, and computing the TTC of the detected object based on the relative 3D position, the velocity, and the acceleration.Type: ApplicationFiled: October 19, 2016Publication date: April 19, 2018Inventors: Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar, Soyeb Nagori, Manu Mathew
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Publication number: 20170191826Abstract: Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.Type: ApplicationFiled: September 2, 2016Publication date: July 6, 2017Inventors: Soyeb Nagori, Poorna Kumar, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar
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Publication number: 20170186177Abstract: Methods and systems providing for real time structure from motion (SfM) processing in a computer vision system receiving images from a monocular camera are disclosed. The real time SfM processing described exploits constraints of the three dimensional (3D) environment that can be assumed for automotive applications and other applications with similar constraints.Type: ApplicationFiled: June 29, 2016Publication date: June 29, 2017Inventors: Soyeb Nagori, Manu Mathew, Prashanth Ramanathpur Viswanath, Deepak Kumar Poddar