SYSTEM AND METHOD FOR GENERATING A SEMANTICALLY MEANINGFUL TWO-DIMENSIONAL IMAGE FROM THREE-DIMENSIONAL DATA
A system and method for detecting, with a fully or partially autonomous vehicle, a nearby object and generating a two-dimensional image representing the object is described. The vehicle can identify the nearby object using one or more included sensors and/or data from one or more high-definition (HD) maps stored in a memory device included in the vehicle, for example. In some examples, the visual representation can be colorized according to a type or other characteristic of the object. The visual representation can be displayed at a display included in the vehicle to alert a passenger of the object's presence in poor visibility conditions where the passengers may otherwise be unaware of the object.
1 . A vehicle, comprising:
one or more sensors configured to sample non-visual three-dimensional (3D) data;
a processor configured to:
characterize a first object near the vehicle based on one or more of the 3D data and data included in one or more HD maps stored on a memory of the vehicle; and
generate a two-dimensional (2D) visual representation of the first object; and
a display configured to display the 2D visual representation of the first object.
2 . The vehicle of claim 1 , wherein the processor is further configured to generate a 3D representation of the first object.
3 . The vehicle of claim 2 , wherein generating the 2D visual representation includes generating a grayscale 2D representation of the non-visual 3D data.
4 . The vehicle of claim 3 , wherein generating the 2D visual representation includes colorizing the grayscale 2D representation of the non-visual 3D data based on one or more of a determined shape of the first object and a characterization of the first object.
5 . The vehicle of claim 1 , wherein a colorization of the 2D visual representation is one or more of based on a realistic coloring of the first object, color-coded based on the characterization of the first object, and indicative of a distance between the vehicle and the first object.
6 . The vehicle of claim 1 , further comprising a speaker configured to play a sound at a same time as displaying the 2D visual representation.
7 . The vehicle of claim 1 , wherein the processor is further configured to:
determine whether the first object corresponds to a feature of the plurality of features included in the one or more HD maps;
in accordance with a determination that the first object corresponds to a feature of the plurality of features included in the one or more HD maps, generating the 2D visual representation based on the corresponding feature in the one or more HD maps; and
in accordance with a determination that the first object does not correspond to a feature of the plurality of features included in the one or more HD maps, generating the 2D visual representation based on the non-visual 3D data.
8 . The vehicle of claim 1 , further comprising:
a wireless transceiver is configured to receive a notification corresponding to a second object, the notification including one or more of 3D data, a 2D grayscale image, and a 2D color image corresponding to the second object.
9 . The vehicle of claim 8 , wherein:
the processor is further configured to generate a 2D visual representation of the second object based on the received notification, and
the display is further configured to display the 2D visual representation of the second object.
10 . The vehicle of claim 1 , further comprising:
a wireless transceiver configured to transmit, to a second vehicle, a notification corresponding to the first object, the notification including one or more of non-visual 3D data, a 2D grayscale image, and a 2D color image corresponding to the first object.
11 . The vehicle of claim 1 , wherein the processor is further configured to determine a poor visibility condition based on data from one or more of a camera and an ambient light sensor, and generating the 2D visual representation of the first object occurs in response to determining the poor visibility condition.
12 . The vehicle of claim 1 , wherein the one or more sensors are LiDAR, radar, or ultrasonic sensors.
13 . The vehicle of claim 1 , wherein the object is not visible to the vehicle.
14 . A method performed at a vehicle, the method comprising:
sampling, with one or more sensors of the vehicle, non-visual three-dimensional (3D) data;
characterizing, with a processor included in the vehicle, a first object near the vehicle based on one or more of the 3D data and data included in one or more HD maps stored on a memory of the vehicle;
generating, with the processor, a two-dimensional (2D) visual representation of the first object; and
displaying, at a display of the vehicle, the 2D visual representation of the first object.
15 . A non-transitory computer-readable medium including instructions, which when executed by one or more processors, cause the one or more processors to perform a method at a vehicle, the method comprising:
sampling, with one or more proximity sensors of the vehicle, three-dimensional (3D) data;
characterizing, with the one or more processors, a first object near the vehicle based on one or more of the 3D data and data included in one or more HD maps stored on a memory of the vehicle;
generating, with the one or more processors, a two-dimensional (2D) visual representation of the first object; and
displaying, at a display of the vehicle, the 2D visual representation of the first object.