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公开(公告)号：US20230140324A1
公开(公告)日：2023-05-04
申请号：US17515955
申请日：2021-11-01
Applicant: GM Global Technology Operations LLC
Inventor： Christina Shin , Chuan Li , Fan Bai , Ramesh Govindan
IPC: H04N19/597 , B60R1/00 , H04N19/96 , H04N19/60
Abstract: A system for creating a 3D volumetric scene includes a first visual sensor positioned onboard a first vehicle to obtain first visual images, first motion sensors positioned onboard the first vehicle to obtain first motion data, a first computer processor positioned onboard the first vehicle and adapted to generate a first scene point cloud, a second visual sensor positioned onboard a second vehicle to obtain second visual images, second motion sensors positioned onboard the second vehicle to obtain second motion data, and a second computer processor positioned onboard the second vehicle and adapted to generate a second scene point cloud, the first and second computer processors further adapted to send the first and second scene point clouds to a third computer processor, and the third computer processor located within an edge/cloud infrastructure and adapted to create a stitched point cloud.
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Patent Agency Ranking
公开(公告)号：US11313696B2
公开(公告)日：2022-04-26
申请号：US16290268
申请日：2019-03-01
Inventor： Fawad Ahmad , Hang Qiu , Ramesh Govindan , Donald K. Grimm , Fan Bai
Abstract: A vehicle is described, and includes an on-board controller, an extra-vehicle communication system, a GPS sensor, a spatial monitoring system, and a navigation system that employs an on-vehicle navigation map. Operation includes capturing a 3D sensor representation of a field of view and an associated GPS location, executing a feature extraction routine, executing a semantic segmentation of the extracted features, executing a simultaneous location and mapping (SLAM) of the extracted features, executing a context extraction from the simultaneous location and mapping of the extracted features, and updating the on-vehicle navigation map based thereon. A parsimonious map representation is generated based upon the updated on-vehicle navigation map, and is communicated to a second, off-board controller. The second controller executes a sparse map stitching to update a base navigation map based upon the parsimonious map representation. The on-vehicle navigation map is updated based upon the off-board navigation map.
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公开(公告)号：US10109198B2
公开(公告)日：2018-10-23
申请号：US15453164
申请日：2017-03-08
Inventor： Hang Qiu , Ramesh Govindan , Marco Gruteser , Fan Bai
Abstract: A system and method is taught for vehicles controlled by automated driving systems, particularly those configured to automatically control vehicle steering, acceleration, and braking during a drive cycle without human intervention. In particular, the present disclosure teaches a system and method for generation situational awareness and path planning data and transmitting this information via vehicle to vehicle communications where one vehicle has an obstructed view to objects not within an obstructed view of a second vehicle.
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公开(公告)号：US10529089B2
公开(公告)日：2020-01-07
申请号：US15903616
申请日：2018-02-23
Inventor： Fawad Ahmad , Hang Qiu , Fan Bai , Ramesh Govindan
Abstract: Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from a sensor of the vehicle; determining a three dimensional point cloud map segment from the sensor data; determining a vehicle pose associated with the three-dimensional point cloud map segment; determining a pose difference based on the vehicle pose, another vehicle pose, and a two-step process, wherein the two-step process includes computing a coarse-granularity pose difference, and computing a fine-granularity pose difference; aligning the three dimensional point cloud map segment with another three dimensional point cloud map segment associated with the other vehicle pose based on the pose difference; and controlling the vehicle based on the aligned three dimensional point cloud map segments.
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公开(公告)号：US20190266748A1
公开(公告)日：2019-08-29
申请号：US15903616
申请日：2018-02-23
Inventor： Fawad Ahmad , Hang Qiu , Fan Bai , Ramesh Govindan
Abstract: Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from a sensor of the vehicle; determining a three dimensional point cloud map segment from the sensor data; determining a vehicle pose associated with the three-dimensional point cloud map segment; determining a pose difference based on the vehicle pose, another vehicle pose, and a two-step process, wherein the two-step process includes computing a coarse-granularity pose difference, and computing a fine-granularity pose difference; aligning the three dimensional point cloud map segment with another three dimensional point cloud map segment associated with the other vehicle pose based on the pose difference; and controlling the vehicle based on the aligned three dimensional point cloud map segments.
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公开(公告)号：US20200278217A1
公开(公告)日：2020-09-03
申请号：US16290268
申请日：2019-03-01
Inventor： Fawad Ahmad , Hang Qiu , Ramesh Govindan , Donald K. Grimm , Fan Bai
Abstract: A vehicle is described, and includes an on-board controller, an extra-vehicle communication system, a GPS sensor, a spatial monitoring system, and a navigation system that employs an on-vehicle navigation map. Operation includes capturing a 3D sensor representation of a field of view and an associated GPS location, executing a feature extraction routine, executing a semantic segmentation of the extracted features, executing a simultaneous location and mapping (SLAM) of the extracted features, executing a context extraction from the simultaneous location and mapping of the extracted features, and updating the on-vehicle navigation map based thereon. A parsimonious map representation is generated based upon the updated on-vehicle navigation map, and is communicated to a second, off-board controller. The second controller executes a sparse map stitching to update a base navigation map based upon the parsimonious map representation. The on-vehicle navigation map is updated based upon the off-board navigation map.
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