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    Cross reality system with accurate shared maps
    41.
    发明授权
    Cross reality system with accurate shared maps 有权

    公开(公告)号：US11790619B2

    公开(公告)日：2023-10-17

    申请号：US17856903

    申请日：2022-07-01

    申请人： Magic Leap, Inc.

    发明人： Miguel Andres Granados Velasquez ,  Javier Victorio Gomez Gonzalez ,  Mukta Prasad ,  Eran Guendelman ,  Ali Shahrokni ,  Ashwin Swaminathan

    IPC分类号： G06T19/00 ,  G01C21/00

    CPC分类号： G06T19/006 ,  G01C21/387

    摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.

    Determining data for semantic localization
    43.
    发明授权
    Determining data for semantic localization 有权

    公开(公告)号：US11761780B1

    公开(公告)日：2023-09-19

    申请号：US17334190

    申请日：2021-05-28

    申请人： Zoox, Inc.

    发明人： Guillermo Duenas Arana ,  Soroush Dean Khadem ,  Till Kroeger

    IPC分类号： G01C21/36 ,  G01C21/00 ,  G06K9/00 ,  B60W60/00 ,  G06V20/58

    CPC分类号： G01C21/3644 ,  B60W60/001 ,  G01C21/387 ,  G01C21/3811 ,  G06V20/58 ,  G06V20/584

    摘要： Techniques for determining map data for localizing a vehicle in an environment are discussed herein. A vehicle can capture sensor data such as image data and can detect objects in the sensor data. Detected objects can include semantic object such as traffic lights, lane lines, street signs, poles, and the like. Rays based on a pose of the sensor and the detected objects can be determined. Intersections between the rays can be determined. The intersections can be utilized to determine candidate landmarks in the environment. The candidate landmarks can be utilized to determine landmarks and to eliminate other candidate landmarks. The map data can be determined based on the three-dimensional locations and utilized to localize vehicles.

    Autonomous driving device
    46.
    发明授权
    Autonomous driving device 有权

    公开(公告)号：US11747814B2

    公开(公告)日：2023-09-05

    申请号：US17564834

    申请日：2021-12-29

    申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

    发明人： Hideyuki Matsui

    IPC分类号： G05D1/02 ,  G01C21/36 ,  G01C21/34 ,  G01C21/00 ,  G01C21/20

    CPC分类号： G05D1/0212 ,  G01C21/20 ,  G01C21/3484 ,  G01C21/3602 ,  G01C21/387 ,  G01C21/3896 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0274 ,  G05D1/0276 ,  G05D2201/0213

    摘要： An autonomous driving device includes a first map including a first content and a second content associated with positions respectively, a second map including the first content associated with the position and in which the second content is not a recording target, and a control unit performing the autonomous driving. When the autonomous driving is performed using the first map, the control unit determines information necessary for the autonomous driving using a first method based on the first content and the second content. When the autonomous driving is performed using the second map, the control unit determines the information necessary for the autonomous driving using a method same as the first method based on the first content corresponding to a second position recorded in the second map and information indicating that the second content corresponding to the second position recorded in the second map is not present.

    Map generation apparatus
    49.
    发明授权
    Map generation apparatus 有权

    公开(公告)号：US12123739B2

    公开(公告)日：2024-10-22

    申请号：US17676585

    申请日：2022-02-21

    申请人： Honda Motor Co., Ltd.

    发明人： Yuichi Konishi ,  Naoki Mori

    IPC分类号： G01C21/00 ,  G01C21/36

    CPC分类号： G01C21/3811 ,  G01C21/3602 ,  G01C21/3837 ,  G01C21/387

    摘要： A map generation apparatus includes: an in-vehicle detection unit configured to detect a situation around a subject vehicle in traveling; and a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform: extracting one or more feature points from a detection data acquired by the in-vehicle detection unit; generating a map using the feature points extracted in the extracting while the subject vehicle is traveling; collating the feature points extracted in the extracting with the map to recognize a position of the subject vehicle on the map when the subject vehicle travels in a region corresponding to the map; and deleting, from the map, a feature point whose result of collation in the recognizing is less than a predetermined degree among the feature points included in the map.

    VEHICLE CONTROLLER, METHOD, AND COMPUTER PROGRAM FOR VEHICLE CONTROL
    50.
    发明公开
    VEHICLE CONTROLLER, METHOD, AND COMPUTER PROGRAM FOR VEHICLE CONTROL 审中-公开

    公开(公告)号：US20240326860A1

    公开(公告)日：2024-10-03

    申请号：US18415021

    申请日：2024-01-17

    申请人： Toyota Jidosha Kabushiki Kaisha

    发明人： Kenta KUMAZAKI

    IPC分类号： B60W60/00 ,  G01C21/00 ,  G01C21/34

    CPC分类号： B60W60/001 ,  G01C21/3461 ,  G01C21/387 ,  B60W2556/40

    摘要： A vehicle controller includes a processor configured to detect an inconsistent section where information on a road represented in a first map is inconsistent with information on the road represented in a second map, make a first driving plan for a first section from a current position of a vehicle to a control switching point which is a start point of the inconsistent section or is nearer the vehicle than the start point, based on one of the first and second maps, make a second driving plan for a second section beyond the control switching point including the inconsistent section, based on the other of the first and second maps, before the vehicle reaches the control switching point, and control the vehicle so as to follow the first driving plan on the first section and follow the second driving plan on the second section.