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    USING IMAGE CONTENT TO FACILITATE NAVIGATION IN PANORAMIC IMAGE DATA
    41.
    发明申请
    USING IMAGE CONTENT TO FACILITATE NAVIGATION IN PANORAMIC IMAGE DATA 有权
    使用图像内容来促进全景图像数据中的导航

    公开(公告)号：US20150116326A1

    公开(公告)日：2015-04-30

    申请号：US14584183

    申请日：2014-12-29

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

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

    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.

    Abstract translation: 本发明涉及使用图像内容以促进全景图像数据中的导航。 在一个实施例中，用于在全景图像数据中导航的计算机实现的方法包括：（1）确定射线和虚拟模型的交集，其中所述射线从图像的相机视口延伸，并且所述虚拟模型包括多个 立面飞机 （2）检索全景图像; （3）将全景图像定向到十字路口; 和（4）显示定向全景图像。

    Estimating road lane geometry using lane marker observations
    42.
    发明授权
    Estimating road lane geometry using lane marker observations 有权
    使用车道标记观察估计道路几何

    公开(公告)号：US08948958B1

    公开(公告)日：2015-02-03

    申请号：US14270653

    申请日：2014-05-06

    Applicant: Google Inc.

    Inventor： David Ian Franklin Ferguson ,  Jiajun Zhu

    IPC: G01C21/26 ,  G01S17/89 ,  G05D1/00 ,  B60W10/20 ,  G05D1/02

    CPC classification number: G05D1/00 ,  B60W10/20 ,  B60W2710/20 ,  G01S17/89 ,  G05D1/021

    Abstract: Aspects of the disclosure relate generally to detecting the edges of lane lines. Specifically, a vehicle driving on a roadway may use a laser to collect data for the roadway. A computer may process the data received from the laser in order to extract the points which potentially reside on two lane lines defining a lane. The extracted points are used by the computer to determine a model of a left lane edge and a right lane edge for the lane. The model may be used to estimate a centerline between the two lane lines. All or some of the model and centerline estimates, may be used to maneuver a vehicle in real time and also to update or generate map information used to maneuver vehicles.

    Abstract translation: 本公开的方面通常涉及检测车道线的边缘。 特别地，在道路上行驶的车辆可以使用激光来收集道路的数据。 计算机可以处理从激光器接收的数据，以便提取可能驻留在限定车道的两条车道线上的点。 提取的点被计算机用于确定车道的左车道边缘和右车道边缘的模型。 该模型可用于估计两条车道线之间的中心线。 所有或一些模型和中心线估计可用于实时地操纵车辆，并且还可以更新或生成用于操纵车辆的地图信息。

    Location-aware notifications and applications for autonomous vehicles
    44.
    发明授权
    Location-aware notifications and applications for autonomous vehicles 有权
    自动车辆的位置感知通知和应用

    公开(公告)号：US08880270B1

    公开(公告)日：2014-11-04

    申请号：US13736937

    申请日：2013-01-08

    Applicant: Google Inc.

    Inventor： Dave Ferguson ,  Jiajun Zhu ,  Manuel Christian Clement

    IPC: G01C21/00 ,  G05D1/02

    CPC classification number: G05D1/021 ,  G05D2201/0213

    Abstract: Methods and apparatus are disclosed related to autonomous vehicle applications for selecting destinations. A control system of an autonomous vehicle can determine a status of the autonomous vehicle. The control system can determine a possible destination of the autonomous vehicle. The control system can generate and provide a hint related to the possible destination based on the status of the autonomous vehicle. The control system can receive input related to the hint. Based on the input, the control system can determine whether to navigate the autonomous vehicle to the possible destination. After determining to navigate the autonomous vehicle to the possible destination, the control system can direct the autonomous vehicle to travel to the possible destination.

    Abstract translation: 公开了与用于选择目的地的自主车辆应用相关的方法和装置。 自主车辆的控制系统可以确定自主车辆的状态。 控制系统可以确定自主车辆的可能目的地。 控制系统可以基于自主车辆的状态生成并提供与可能目的地相关的提示。 控制系统可以接收与提示有关的输入。 基于输入，控制系统可以确定是否将自主车辆导航到可能的目的地。 在确定将自主车辆导航到可能的目的地之后，控制系统可以引导自主车辆行驶到可能的目的地。

    Obstacle Evaluation Technique
    45.
    发明申请
    Obstacle Evaluation Technique 有权
    障碍评估技术

    公开(公告)号：US20140288817A1

    公开(公告)日：2014-09-25

    申请号：US14296670

    申请日：2014-06-05

    Applicant: GOOGLE INC.

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu

    IPC: G08G1/16 ,  B60W30/095

    CPC classification number: G08G1/166 ,  B60R21/00 ,  B60R21/013 ,  B60W30/08 ,  B60W30/095 ,  G06K9/00805

    Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.

    Abstract translation: 构造成以自主模式操作的车辆可以参与障碍物评估技术，其包括采用传感器系统来收集与多个障碍物相关的数据，从多个障碍物识别包括第一障碍物和第二障碍物的障碍物， 通过将针对第一障碍物收集的数据与针对第二障碍物收集的数据进行比较，并且响应于参与评估处理，确定第一障碍物和第二障碍物是否是两个单独的障碍物来进行评估过程。

    DETECTING ROAD WEATHER CONDITIONS
    47.
    发明申请
    DETECTING ROAD WEATHER CONDITIONS 有权

    公开(公告)号：US20140081507A1

    公开(公告)日：2014-03-20

    申请号：US13623422

    申请日：2012-09-20

    Applicant: Google Inc.

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

    IPC: G05D1/00

    CPC classification number: B60W40/06 ,  B60W2420/62

    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.

    Methods and systems for vehicle perception feedback to classify data representative of types of objects and to request feedback regarding such classifications
    49.
    发明授权
    Methods and systems for vehicle perception feedback to classify data representative of types of objects and to request feedback regarding such classifications 有权
    用于车辆感知反馈的方法和系统，用于对表示对象类型的数据进行分类，并请求关于此类分类的反馈

    公开(公告)号：US09489635B1

    公开(公告)日：2016-11-08

    申请号：US13666043

    申请日：2012-11-01

    Applicant: Google Inc.

    Inventor： Jiajun Zhu

    IPC: H04N7/18 ,  G06N99/00 ,  G06K9/00

    CPC classification number: G06N99/005 ,  G06K9/00805 ,  G06K9/033 ,  G06N5/025

    Abstract: Aspects of the disclosure relate generally to methods and systems for improving object detection and classification. An example system may include a perception system and a feedback system. The perception system may be configured to receive data indicative of a surrounding environment of a vehicle, and to classify one or more portions of the data as representative of a type of object based on parameters associated with a machine learning classifier. The feedback system may be configured to request feedback regarding a classification of an object by the perception system based on a confidence level associated with the classification being below a threshold, and to cause the parameters associated with the machine classifier to be modified based on information provided in response to the request.

    Abstract translation: 本公开的方面通常涉及用于改进对象检测和分类的方法和系统。 示例系统可以包括感知系统和反馈系统。 感知系统可以被配置为接收指示车辆的周围环境的数据，并且基于与机器学习分类器相关联的参数来将数据的一个或多个部分分类为对象类型的代表。 反馈系统可以被配置为基于感知系统基于与分类相关的置信水平低于阈值来请求关于对象的分类的反馈，并且基于提供的信息使与机器分类器相关联的参数被修改 响应请求。

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