US Patent 11893799 Computer vision system for object tracking and time-to-collision

Technologies and techniques for vehicle perception. Contours are extracted from image data, and a first and second contour of a current image and next image are determined along a plurality of image row boundaries, wherein the contours includes a plurality of contour points linked to each other via respective edges. An image velocity vector is applied to project each of the plurality of first contour points to the next image, wherein at least some of the projected first contour points are not located on an image row boundary. The projected contour points are processed to determine projected edges forming a projected link between each projected contour point. The projected contour points are moved along the projected link to align each of the moved projected contour points to a respective image boundary. Each of the moved projected contour points are then linked to each of the second contour points.