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公开(公告)号：US12007784B2
公开(公告)日：2024-06-11
申请号：US16830772
申请日：2020-03-26
Applicant: HERE Global B.V.
CPC classification number: G05D1/0268 , G05D1/024 , G05D1/0248 , G05D1/0278 , H04W4/029
Abstract: Methods described herein relate to self-localization. Methods may include: receiving sensor data from a vehicle traveling along a road segment; identifying one or more objects of the environment from the sensor data; determining a coarse location of the vehicle; comparing the identified one or more objects with corresponding ground truth objects; calculating an observation in response to the comparison of the identified one or more objects with the corresponding ground truth objects; determining a location of the vehicle with a higher precision than the coarse location based, at least in part, on the observation; and allocating resources of the apparatus based, at least in part, on the observation.
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公开(公告)号：US10699135B2
公开(公告)日：2020-06-30
申请号：US15818230
申请日：2017-11-20
Applicant: HERE Global B.V.
Inventor： Qilin Zhang , Xiang Ma , Xin Chen , Sanjay Sood , Mark Tabb , Chen Luo
Abstract: Apparatus and methods are described for generating geometries for stripe-shaped objects. An image is identified that includes a roadway having one or more stripe-shaped objects. The stripe-shaped objects may include lane lines for road edges or lanes of the roadway. The stripe-shaped objects may include a barrier. At least one targeted region within the image is determined. The at least one targeted region is shaped to intersect the one or more stripe-shaped objects and includes a plurality of pixels. An image analysis is performed on the image to determine when the at least one target region includes a pixel in common with the one or more stripe-shaped objects. A geometry is constructed using the pixel in common. The geometry may be used to update a map or subsequently perform localization.
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公开(公告)号：US20190138823A1
公开(公告)日：2019-05-09
申请号：US15808277
申请日：2017-11-09
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen , Coby Spolin Parker , Zichen Li
Abstract: The present embodiments provide for automatically detecting the location and severity of occluded regions within input data. A grid representation of a scene is generated from a data set, characterizing spaces of the grid representation as free, occupied, and hidden/occluded. The grid is bounded, and a connected component analysis is performed on the hidden space to identify the occluded regions.
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公开(公告)号：US10171837B2
公开(公告)日：2019-01-01
申请号：US15280156
申请日：2016-09-29
Applicant: HERE Global B.V.
Inventor： Roman Ostrovskiy , Xin Chen
IPC: H04N19/597 , H04N19/136 , H04N19/50 , G06K9/52 , H04N19/593
Abstract: A data set may be compressed by predicting a value for the values of the data set. A comparative value may then be determined between a predicted value and an actual value for the particular points of the data set. The comparators for the particular points of the data set may then be encoded.
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公开(公告)号：US10002537B2
公开(公告)日：2018-06-19
申请号：US15628985
申请日：2017-06-21
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
CPC classification number: G08G1/167 , G01S13/931 , G01S15/931 , G01S17/936 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9367 , G08G1/0112 , G08G1/0133 , G08G1/0141 , G08G1/165
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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Patent Agency Ranking
公开(公告)号：US20180058861A1
公开(公告)日：2018-03-01
申请号：US15248714
申请日：2016-08-26
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen
CPC classification number: G01C21/32 , G01S7/4808 , G01S17/89 , G06T7/00 , G06T17/05 , G06T2215/16
Abstract: Embodiments include apparatus and methods for generating a localization geometry or occupancy grid for a geographic location. Point cloud that describes a vicinity of a pathway is collected by a distance sensor and describing a vicinity of the pathway. The point cloud data is reduced or filtered to a predetermined volume with respect to the roadway. The remaining point cloud data is projected onto a two-dimensional plane including at least one pixel formation. A volumetric grid is defined according to the at least one pixel formation, and a voxel occupancy for each of a voxels forming the volumetric grid is determined. The arrangement of the voxel occupancies or a sequence of data describing the voxel occupancies is a localization geometry that describes the geographic location of the pathway.
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公开(公告)号：US20170287337A1
公开(公告)日：2017-10-05
申请号：US15628985
申请日：2017-06-21
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
CPC classification number: G08G1/167 , G01S13/931 , G01S15/931 , G01S17/936 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9367 , G08G1/0112 , G08G1/0133 , G08G1/0141 , G08G1/165
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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公开(公告)号：US09646203B2
公开(公告)日：2017-05-09
申请号：US14334704
申请日：2014-07-18
Applicant: HERE Global B.V.
Inventor： Xin Chen
CPC classification number: G06K9/00476 , G01C21/32
Abstract: A method, apparatus and computer program product are provided for generating map data based on construction designs. In the context of a method, the method includes receiving a construction design, performing optical character recognition to detect characters within the construction design, extracting design features within the construction design, and generating map data based on the detected characters, and the extracted design features.
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公开(公告)号：US09459626B2
公开(公告)日：2016-10-04
申请号：US14567343
申请日：2014-12-11
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vlad Zhukov , Xiaotao Zou
CPC classification number: G05D1/0221 , G01C21/32 , G01C21/3407 , G05D1/0088 , G05D2201/0212 , G06K9/00818 , G06K9/627 , G06K9/6287 , G08G1/0112 , G08G1/0129 , G08G1/0141 , G08G1/09623 , G08G1/096716 , G08G1/096725 , G08G1/096758 , G08G1/096791
Abstract: Systems, methods, and apparatuses are disclosed for identifying road signs along a roadway segment from vehicle probe data. Probe data is received from vehicle sensors at a road segment, wherein the probe data includes observed static objects along the road segment. Road signs are identified within the observed static objects of the probe data using a logistic regression algorithm. The geographic location of the identified road signs are determined using a linear regression algorithm.
Abstract translation: 公开了用于从车辆探测数据识别沿道路段的道路标志的系统，方法和装置。 从路段的车辆传感器接收探测数据，其中探测数据包括沿着路段的观察到的静态物体。 使用逻辑回归算法，在观察到的探测数据的静态对象内识别路标。 使用线性回归算法确定所识别的路标的地理位置。
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公开(公告)号：US09449227B2
公开(公告)日：2016-09-20
申请号：US14150147
申请日：2014-01-08
Applicant: HERE Global B.V.
Inventor： Xin Chen , Roman Ostrovskiy , Xiang Ma
CPC classification number: G06K9/0063 , G01S17/89 , G06T17/05 , G06T19/20 , G06T2210/56 , G06T2219/2012
Abstract: Systems/apparatuses and methods are provided for creating aerial images. A three-dimensional point cloud image is generated from an optical distancing system. Additionally, at least one two-dimensional street level image is generated from at least one camera. The three-dimensional point cloud image is colorized with the at least one two-dimensional street level image, thereby forming a colorized three-dimensional point cloud image. The colorized three-dimensional point cloud image is projected onto a two-dimensional plane, using a processor, thereby forming a synthetic aerial image.
Abstract translation: 提供用于创建航空图像的系统/装置和方法。 从光学距离系统产生三维点云图像。 另外，至少一个二维街道图像从至少一个照相机产生。 利用至少一个二维街道图像对三维点云图像进行着色，由此形成着色的三维点云图像。 着色的三维点云图像使用处理器投影到二维平面上，从而形成合成的空间图像。
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