CPC G08G 1/166 (2013.01) [B60W 40/06 (2013.01); G06T 7/248 (2017.01); G06T 7/55 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G08G 1/165 (2013.01); B60W 2420/42 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] | 24 Claims |
1. A device for modeling a road surface, the device comprising:
an image capture device with a sensor to obtain a time-ordered sequence of images representative of a surface, one of the sequence of images being a current image; and
processing circuitry to:
provide a data set to a first artificial neural network (ANN) to produce a first output of three-dimensional structure of a scene, the data set including:
a portion of the sequence of images, the portion of the sequence of images including the current image;
motion of the sensor; and
an epipole, wherein the first structure includes a representation of a vertical deviations from the surface of points observed in the portion of the sequence of images;
provide the data set to a second ANN to produce a second output of photogrammetric loss of the scene; and
compare the first output to the second output to determine a feature of the surface.
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