Camera data normalization for an autonomous vehicle
Camera data normalization for an autonomous vehicle are described herein, including: receiving, from one or more cameras of the autonomous vehicle, camera data; applying a color normalization to the camera data; applying a spherical reprojection to the camera data; and applying, based on a registration point, a stabilization to the camera data.
1. A method comprising:
receiving, from one or more cameras of an autonomous vehicle, video data;
applying a color normalization to the video data;
applying a respective spherical reprojection to each frame of the video data; and
applying, based on a registration point, an image stabilization to the video data.
2. The method of claim 1 , further comprising providing the video data to a machine learning model configured to determine control operations for the autonomous vehicle.
3. The method of claim 1 , wherein applying the color normalization comprises:
converting the video data to a lighting-invariant color space;
determining, for one or more pixels of the video data, a relative lighting change; and
scaling, for the one or more pixels, the relative lighting change relative to one or more of a local illumination or a total illumination.
4. The method of claim 1 , wherein the registration point comprises a vanishing point.
5. The method of claim 1 , further comprising determining, based on an inertial measurement of the autonomous vehicle, the vanishing point.
6. The method of claim 1 , wherein applying the image stabilization comprises centering the video data on the registration point.
7. The method of claim 1 , further comprising providing the video data to a server configured to train, based at least in part on the video data, a machine learning model configured to determine autonomous vehicle control operations.
8. An apparatus configured to perform steps comprising:
receiving, from one or more cameras of an autonomous vehicle, video data;
applying a color normalization to the video data;
applying a respective spherical reprojection to each frame of the video data; and
applying, based on a registration point, an image stabilization to the video data.
9. The apparatus of claim 8 , wherein the steps further comprise providing the video data to a machine learning model configured to determine control operations for the autonomous vehicle.
10. The apparatus of claim 8 , wherein applying the color normalization comprises:
converting the video data to a lighting-invariant color space;
determining, for one or more pixels of the video data, a relative lighting change; and
scaling, for the one or more pixels, the relative lighting change relative to one or more of a local illumination or a total illumination.
11. The apparatus of claim 8 , wherein the registration point comprises a vanishing point.
12. The apparatus of claim 11 , wherein the steps further comprise determining, based on an inertial measurement of the autonomous vehicle, the vanishing point.
13. The apparatus of claim 8 , wherein applying the image stabilization comprises centering the video data on the registration point.
14. An autonomous vehicle comprising:
an apparatus configured to perform steps comprising:
receiving, from one or more cameras of the autonomous vehicle, video data;
applying a color normalization to the video data;
applying a respective spherical reprojection to each frame of the video data; and
applying, based on a registration point, an image stabilization to the video data.
15. The autonomous vehicle of claim 14 , wherein the steps further comprise providing the video data to a machine learning model configured to determine control operations for the autonomous vehicle.
16. The autonomous vehicle of claim 14 , wherein applying the color normalization comprises:
converting the video data to a lighting-invariant color space;
determining, for one or more pixels of the video data, a relative lighting change; and
scaling, for the one or more pixels, the relative lighting change relative to one or more of a local illumination or a total illumination.
17. The autonomous vehicle of claim 14 , wherein the registration point comprises a vanishing point.
18. The autonomous vehicle of claim 17 , wherein the steps further comprise determining, based on an inertial measurement of the autonomous vehicle, the vanishing point.
19. The autonomous vehicle of claim 14 , wherein applying the image stabilization comprises centering the video data on the registration point.
20. A computer program product disposed upon a non-transitory computer readable medium, the computer program product comprising computer program instructions that, when executed, cause a computer system of an autonomous vehicle to carry out the steps of:
receiving, from one or more cameras of the autonomous vehicle, video data;
applying a color normalization to the video data;
applying a respective spherical reprojection to each frame of the video data; and
applying, based on a registration point, an image stabilization to the video data.