公开(公告)号：US09286520B1

公开(公告)日：2016-03-15

申请号：US13942747

申请日：2013-07-16

Applicant: Google Inc.

Inventor： Wan-Yen Lo ,  David Ian Franklin Ferguson ,  Abhijit Ogale

IPC: H04N7/00 ,  G06K9/00

CPC classification number: G06K9/00798 ,  B60R1/00 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/00845 ,  G06K9/4647 ,  G06K9/4652 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/20 ,  G06T7/408 ,  G06T2207/30256

Abstract: Methods and systems for real-time road flare detection using templates and appropriate color spaces are described. A computing device of a vehicle may be configured to receive an image of an environment of the vehicle. The computing device may be configured to identify a given pixels in the plurality of pixels having one or more of: (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value. Further, the computing device may be configured to make a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare; and determine a likelihood that the object represents the road flare.

Abstract translation: 描述了使用模板和适当颜色空间进行实时道路耀斑检测的方法和系统。 车辆的计算装置可以被配置为接收车辆的环境的图像。 计算设备可以被配置为识别具有以下中的一个或多个的多个像素中的给定像素：（i）大于绿色值的红色值，以及（ii）大于蓝色值的红色值 。 此外，计算装置可以被配置为对由图像中的给定像素表示的对象的形状的一个或多个特征与道路耀斑的预定形状的相应一个或多个特征进行比较; 并确定对象表示道路耀斑的可能性。

公开(公告)号：US09679206B1

公开(公告)日：2017-06-13

申请号：US15387826

申请日：2016-12-22

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Wan-Yen Lo ,  Nathaniel Fairfield

IPC: G01C22/00 ,  G05D1/00 ,  G06K9/00 ,  G05D1/02 ,  H04L29/08

CPC classification number: G05D1/0246 ,  B60W40/04 ,  B60W2050/0077 ,  B60W2050/0215 ,  G05D1/00 ,  G05D1/0022 ,  G05D1/0088 ,  G06K9/00791 ,  G06K9/00805 ,  G07C5/008 ,  H04L67/125

Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.

公开(公告)号：US20170098129A1

公开(公告)日：2017-04-06

申请号：US15379757

申请日：2016-12-15

Applicant: Google Inc.

Inventor： Wan-Yen Lo ,  David I. Ferguson

IPC: G06K9/00 ,  G06T7/70 ,  G06T17/10 ,  G05D1/02 ,  B60R1/00 ,  B60R11/04 ,  G05D1/00 ,  G06T15/20 ,  G06K9/62

CPC classification number: G06K9/00798 ,  B60R1/00 ,  B60R11/04 ,  B60R2300/301 ,  B60R2300/8093 ,  B60W30/00 ,  G01C21/005 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G06K9/6267 ,  G06T7/50 ,  G06T7/70 ,  G06T15/20 ,  G06T15/205 ,  G06T17/10 ,  G06T2207/30256

Abstract: Disclosed herein are methods and systems for determining a location of an object within an environment. An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.

公开(公告)号：US20160267334A1

公开(公告)日：2016-09-15

申请号：US15158008

申请日：2016-05-18

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Wan-Yen Lo

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G05D1/00

CPC classification number: G06K9/00825 ,  G05D1/0088 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/3241 ,  G06K9/46 ,  G06K9/6202 ,  G06K2209/23 ,  G06T7/11 ,  G06T7/62 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/20021 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.

Abstract translation: 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。

公开(公告)号：US09280710B1

公开(公告)日：2016-03-08

申请号：US14208385

申请日：2014-03-13

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Wan-Yen Lo

IPC: G06K9/00 ,  G06T7/60 ,  B60Q1/26

CPC classification number: G06K9/00825 ,  G05D1/0088 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/3241 ,  G06K9/46 ,  G06K9/6202 ,  G06K2209/23 ,  G06T7/11 ,  G06T7/62 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/20021 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.

公开(公告)号：US20140379247A1

公开(公告)日：2014-12-25

申请号：US13925795

申请日：2013-06-24

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Wan-Yen Lo

IPC: B60W30/09

CPC classification number: B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W2420/42 ,  B60W2550/10 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/6289

Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.

Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境的行车道的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。