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公开(公告)号：US08914212B1
公开(公告)日：2014-12-16
申请号：US14095107
申请日：2013-12-03
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Ian James Mahon , Dmitri A. Dolgov , Jiajun Zhu
IPC: G08G1/16
Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.
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公开(公告)号：US08902282B1
公开(公告)日：2014-12-02
申请号：US14104204
申请日：2013-12-12
Applicant: Google Inc.
Inventor： Jiajun Zhu
IPC: H04N7/00 , H04N21/472
CPC classification number: H04N21/21805 , G06T19/003 , G11B27/031 , H04N5/147 , H04N5/2628 , H04N21/472
Abstract: Methods and systems for generating video from panoramic images using transition trees are provided. According to an embodiment, a method for generating a video from panoramic images may include receiving a transition tree corresponding to a current panoramic image from a server. The method may also include determining a path of the transition tree to a next panoramic image based on a user navigation request. The method may further include requesting and receiving a video chunk from the server for each edge of the determined path of the transition tree. The method may also include displaying the requested video chunks in sequence according to the transition tree. According to another embodiment, a system for generating a video from panoramic images may include a transition tree module and a video display module.
Abstract translation: 提供了使用过渡树从全景图像生成视频的方法和系统。 根据实施例，用于从全景图像生成视频的方法可以包括从服务器接收与当前全景图像相对应的过渡树。 该方法还可以包括基于用户导航请求来确定转换树到下一个全景图像的路径。 该方法还可以包括从转发树的确定路径的每个边缘向服务器请求和接收视频块。 该方法还可以包括根据转换树依次显示所请求的视频块。 根据另一个实施例，用于从全景图像生成视频的系统可以包括转换树模块和视频显示模块。
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23.发明申请Methods and Systems for Detecting Weather Conditions Including Wet Surfaces Using Vehicle Onboard Sensors 有权使用车载传感器检测包括湿表面的天气条件的方法和系统公开(公告)号：US20140307247A1
公开(公告)日：2014-10-16
申请号：US13860664
申请日：2013-04-11
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC: G01S17/02
CPC classification number: G01S17/023 , B60W40/064 , G01S13/66 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/66 , G01S17/936 , G01S17/95 , Y02A90/19
Abstract: Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.
Abstract translation: 提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据。 该方法还包括确定与环境中的一个或多个对象相关联的激光数据点，并且基于与环境中的一个或多个对象不相关的激光数据点，识别车辆行驶的表面是 湿。 该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示 激光数据点与雷达数据所指示的环境中的一个或多个物体无关。
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公开(公告)号：US20140210817A1
公开(公告)日：2014-07-31
申请号：US14230840
申请日：2014-03-31
Applicant: Google Inc.
Inventor： Jiajun Zhu , Daniel Joseph Filip , Luc Vincent
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来实现的。 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。
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公开(公告)号：US09632210B2
公开(公告)日：2017-04-25
申请号：US13888634
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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Patent Agency Ranking
26.发明申请公开(公告)号：US20160350964A1
公开(公告)日：2016-12-01
申请号：US15236852
申请日：2016-08-15
Applicant: Google Inc.
Inventor： Jiajun Zhu
Abstract: A system and method of displaying transitions between street level images is provided. In one aspect, the system and method creates a plurality of polygons that are both textured with images from a 2D street level image and associated with 3D positions, where the 3D positions correspond with the 3D positions of the objects contained in the image. These polygons, in turn, are rendered from different perspectives to convey the appearance of moving among the objects contained in the original image.
Abstract translation: 提供了一种在街道图像之间显示过渡的系统和方法。 在一个方面，系统和方法创建多个多边形，它们都与来自2D街道级图像的图像纹理化并与3D位置相关联，其中3D位置对应于包含在图像中的对象的3D位置。 反过来，这些多边形从不同的角度呈现出来，以传达在原始图像中包含的对象之间移动的外观。
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公开(公告)号：US20160274589A1
公开(公告)日：2016-09-22
申请号：US15170470
申请日：2016-06-01
Applicant: Google Inc.
Inventor： Bradley Templeton , Pierre-yves Droz , Jiajun Zhu
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 system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.
Abstract translation: 一种系统和方法包括在发射来自激光雷达装置的光脉冲的同时扫描光检测和测距（LIDAR）装置通过与扫描区对应的一系列取向。 该方法还包括接收对应于从激光雷达装置发射的光脉冲的返回光脉冲，并且基于发射光脉冲之间的时间延迟并接收相应的返回光脉冲和激光雷达装置的取向来确定初始点云数据。 初始点云数据具有初始角分辨率。 该方法包括基于初始点云数据识别扫描区域中的反射特征并且确定增强区域和增强的角度分辨率用于随后的扫描以在后续点云数据的至少一部分中提供更高的空间分辨率 从随后的扫描对应于反射特征。
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公开(公告)号：US09438934B1
公开(公告)日：2016-09-06
申请号：US14528437
申请日：2014-10-30
Applicant: Google Inc.
Inventor： Jiajun Zhu
IPC: H04N7/00 , H04N9/64 , H04N21/218 , G11B27/031 , H04N5/14 , H04N5/262
CPC classification number: H04N21/21805 , G06T19/003 , G11B27/031 , H04N5/147 , H04N5/2628 , H04N21/472
Abstract: Methods and systems for generating video from panoramic images using transition trees are provided. According to an embodiment, a method for generating a video from panoramic images may include receiving a transition tree corresponding to a current panoramic image from a server. The method may also include determining a path of the transition tree to a next panoramic image based on a user navigation request. The method may further include requesting and receiving a video chunk from the server for each edge of the determined path of the transition tree. The method may also include displaying the requested video chunks in sequence according to the transition tree. According to another embodiment, a system for generating a video from panoramic images may include a transition tree module and a video display module.
Abstract translation: 提供了使用过渡树从全景图像生成视频的方法和系统。 根据实施例，用于从全景图像生成视频的方法可以包括从服务器接收与当前全景图像相对应的过渡树。 该方法还可以包括基于用户导航请求来确定转换树到下一个全景图像的路径。 该方法还可以包括从转发树的确定路径的每个边缘向服务器请求和接收视频块。 该方法还可以包括根据转换树依次显示所请求的视频块。 根据另一个实施例，用于从全景图像生成视频的系统可以包括转换树模块和视频显示模块。
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公开(公告)号：US20150310281A1
公开(公告)日：2015-10-29
申请号：US14791725
申请日：2015-07-06
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
Abstract translation: 本文描述了使用多个传感器进行物体检测的方法和系统。 在示例性实施例中，车辆的计算设备可以接收指示与多个传感器不同的速率的环境的传感器数据帧。 基于来自第一传感器的指示第一时间段的环境的第一帧和对应于从第二传感器的第一时间段的第一帧的一部分，计算设备可以估计车辆环境中的对象的参数。 响应于从传感器接收传感器数据的帧的后续帧或后续部分，计算设备可以修改参数，即使帧无序地到达计算设备。 计算设备可以将对象的参数提供给车辆的系统以用于物体检测和障碍物避免。
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公开(公告)号：US09098753B1
公开(公告)日：2015-08-04
申请号：US14262269
申请日：2014-04-25
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
Abstract translation: 本文描述了使用多个传感器进行物体检测的方法和系统。 在示例性实施例中，车辆的计算设备可以接收指示与多个传感器不同的速率的环境的传感器数据帧。 基于来自第一传感器的指示第一时间段的环境的第一帧和对应于从第二传感器的第一时间段的第一帧的一部分，计算设备可以估计车辆环境中的对象的参数。 响应于从传感器接收传感器数据的帧的后续帧或后续部分，计算设备可以修改参数，即使帧无序地到达计算设备。 计算设备可以将对象的参数提供给车辆的系统以用于物体检测和障碍物避免。
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