公开(公告)号：US20140081573A1

公开(公告)日：2014-03-20

申请号：US13623397

申请日：2012-09-20

Applicant: Google Inc.

Inventor： Christopher Paul Urmson ,  Michael Steven Montemerlo ,  Jiajun Zhu

IPC: G01W1/02 ,  G06F19/00 ,  G01B11/30

CPC classification number: G01W1/02 ,  G01S7/4802 ,  G01S17/42 ,  G01S17/89 ,  G01S17/95 ,  G01W1/10 ,  Y02A90/19

Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.

Abstract translation: 本公开的方面通常涉及检测道路天气状况。 可以使用包括激光，降水传感器和/或照相机的车辆传感器来检测诸如道路的亮度，道路亮度的变化，世界的亮度，当前的降水以及检测到的高度 马路。 也可以考虑从其他来源获得的信息，例如网络天气信息（预测，雷达，降水报告等）。 接收和检测信息的组合可用于估计巷道中的降水概率，例如水，雪或冰。 然后可以使用该信息来操纵自主车辆（用于转向，加速或制动）或识别危险情况。

公开(公告)号：US09632659B2

公开(公告)日：2017-04-25

申请号：US14584183

申请日：2014-12-29

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

IPC: G06T17/00 ,  G06F3/0481 ,  G06T15/06 ,  G06T19/00 ,  G06T3/40

CPC classification number: G06T19/003 ,  G06F3/04815 ,  G06T3/4038 ,  G06T15/06 ,  G06T17/00 ,  G06T19/00 ,  G06T2200/32

Abstract: The present invention relates to using image content to facilitate navigation in panoramic image data. In an embodiment, a computer-implemented method for navigating in panoramic image data includes: (1) determining an intersection of a ray and a virtual model, wherein the ray extends from a camera viewport of an image and the virtual model comprises a plurality of facade planes; (2) retrieving a panoramic image; (3) orienting the panoramic image to the intersection; and (4) displaying the oriented panoramic image.

公开(公告)号：US09471597B2

公开(公告)日：2016-10-18

申请号：US14230840

申请日：2014-03-31

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

IPC: G06T15/00 ,  G06T15/02 ,  G06T17/00 ,  G06T19/00 ,  G06F17/30

CPC classification number: G06T11/60 ,  G06F17/241 ,  G06F17/30241 ,  G06T7/75 ,  G06T19/00 ,  G06T19/20 ,  G06T2207/10028 ,  G06T2207/20101 ,  G06T2210/12 ,  G06T2219/004

Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.

Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上而实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。

公开(公告)号：US09459625B1

公开(公告)日：2016-10-04

申请号：US14449792

申请日：2014-08-01

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Jiajun Zhu

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  B60W40/04 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0223 ,  G05D1/0246 ,  G05D1/0287 ,  G08G1/096725

Abstract: A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

Abstract translation: 提供了一种用于控制自主车辆的操作的方法和装置。 根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。 基于其他车辆的轨迹，自主车辆可以产生组合轨迹池。 随后，自主车辆可以选择组合轨迹中的一个作为代表轨迹。 代表性轨迹可以用于改变自主车辆的速度或方向中的至少一个。

公开(公告)号：US09383753B1

公开(公告)日：2016-07-05

申请号：US13627623

申请日：2012-09-26

Applicant: Google Inc.

Inventor： Bradley Templeton ,  Pierre-yves Droz ,  Jiajun Zhu

IPC: G01C23/00 ,  G05D1/02

CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A light detection and ranging device with dynamically adjustable angular resolution for use as a sensor providing environmental information for navigating an autonomous vehicle is disclosed. A first region of a scanning zone is scanned while emitting light pulses at a first pulse rate, and a second region of the scanning zone is scanned while emitting light pulses at a second pulse rate different from the first pulse rate. Information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses is received. A three dimensional point map is generated where the resolution of the point map in the first region is based on the first pulse rate and is based on the second pulse rate in the second region.

Abstract translation: 公开了一种具有动态可调角度分辨率的光检测和测距装置，用作提供用于导航自主车辆的环境信息的传感器。 在以第一脉冲速率发射光脉冲的同时扫描扫描区域的第一区域，扫描区域的第二区域被扫描，同时以不同于第一脉冲速率的第二脉冲速率发射光脉冲。 来自LIDAR装置的指示光脉冲的发射与相应的返回光脉冲的接收之间的时间延迟的信息被接收。 产生三维点图，其中第一区域中的点图的分辨率基于第一脉冲率，并且基于第二区域中的第二脉冲率。

公开(公告)号：US09221396B1

公开(公告)日：2015-12-29

申请号：US13628986

申请日：2012-09-27

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: H04N7/18 ,  B60R1/00

CPC classification number: B60W50/0205 ,  B60Q9/008 ,  B60R1/00 ,  B60R2300/8093 ,  B60W50/14 ,  B60W2050/0043 ,  B60W2050/0215 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  G01D18/00 ,  G01S7/40 ,  G01S7/497 ,  G01S13/723 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00791 ,  G06K9/03 ,  G08G1/163 ,  G08G1/166 ,  H04N7/181

Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.

Abstract translation: 公开了用于与第一传感器交叉验证第二传感器的方法和系统。 交叉验证第二传感器可以包括从第一传感器获得传感器读数并将来自第一传感器的传感器读数与从第二传感器获得的传感器读数进行比较。 特别地，传感器读数的比较可以包括比较由第一传感器和第二传感器检测到的关于车辆的状态信息。 此外，比较传感器读数可以包括从第一传感器获得第一图像，从第二传感器获得第二图像，然后比较图像的各种特性。 可以比较的一个特征是应用于由第一和第二传感器检测到的车辆的对象标签。 第一和第二传感器可以是不同类型的传感器。

公开(公告)号：US09121717B1

公开(公告)日：2015-09-01

申请号：US14103280

申请日：2013-12-11

Applicant: Google Inc.

Inventor： Jiajun Zhu

IPC: G01C21/26 ,  G08G9/02

CPC classification number: G01C21/26 ,  B60W30/16 ,  B60W2420/42 ,  B60W2520/16 ,  B60W2550/142 ,  B60W2550/308 ,  G01S11/12 ,  G01S17/936 ,  G05D1/0251 ,  G05D2201/0213 ,  G06K9/00805 ,  G08G1/165 ,  G08G1/166 ,  G08G9/02

Abstract: A method is provided for processing an image in which only parts of the image that appear above a point on a horizon line are analyzed to identify an object. In one embodiment, the distance between the object and a vehicle is determined, and at least one of the speed and direction of the vehicle is changed when it is determined that the distance is less than the range of a sensor. The method for processing images is not limited to vehicular applications only and it may be used in all applications where computer vision is used to identify objects in an image.

Abstract translation: 提供了一种处理图像的方法，其中仅分析出现在水平线上的点上方的图像的一部分以识别对象。 在一个实施例中，确定物体与车辆之间的距离，并且当确定距离小于传感器的范围时，车辆的速度和方向中的至少一个被改变。 用于处理图像的方法不仅限于车辆应用，并且可以在计算机视觉用于识别图像中的对象的所有应用中使用。

公开(公告)号：US09098754B1

公开(公告)日：2015-08-04

申请号：US14262651

申请日：2014-04-25

Applicant: Google Inc.

Inventor： James Stout ,  Jiajun Zhu

IPC: G06K9/00 ,  G06K9/46

CPC classification number: G06T7/521 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.

Abstract translation: 本文描述了使用激光点云进行物体检测的方法和系统。 在示例实现中，计算设备可以从传感器接收指示车辆环境的激光数据，并且基于激光数据生成包括表示对象在环境中的各个位置的像素的二维（2D）范围图像。 计算设备可以修改2D范围图像以向给定像素提供值，该给定像素映射到缺乏激光数据的环境中的对象的部分，其可以涉及基于由给定像素定位的相邻像素的平均值向给定像素提供值 。 另外，计算设备可以基于修改的2D范围图像来确定对应于环境中的对象的表面的像素组的法向矢量，并且可以使用法向量向车辆的系统提供对象识别信息。

公开(公告)号：US09080866B1

公开(公告)日：2015-07-14

申请号：US13927518

申请日：2013-06-26

Applicant: Google Inc.

Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu ,  Pierre-yves Droz ,  Luke Wachter ,  Dorel Ionut Iordache

IPC: G01B11/00 ,  G01S17/10 ,  G01B11/28 ,  G01S17/02

CPC classification number: G01S17/026 ,  G01C3/08 ,  G01S7/4802 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00798 ,  G08G5/0026 ,  G08G5/065

Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.

Abstract translation: 提供了用于检测远距离反射标记的示例方法和系统。 示例性方法包括接收从车辆的环境的连续扫描收集的激光数据。 该方法还包括基于从相应的连续扫描收集的激光数据确定一个或多个对象的相应尺寸。 该方法可以进一步包括由计算设备确定并且至少部分地基于相应连续扫描的一个或多个对象的相应大小来确定作为与车辆距离的函数的尺寸变化的对象。 该方法还可以包括确定对象代表反射标记。 在一个示例中，计算设备可以使用一个反射标记的检测来帮助检测可能处于相似位置的后续反射标记。

公开(公告)号：US08935034B1

公开(公告)日：2015-01-13

申请号：US14190621

申请日：2014-02-26

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  David Ian Franklin Ferguson ,  Dmitri A. Dolgov

IPC: G05D1/02

CPC classification number: B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

Abstract translation: 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。