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公开(公告)号：US10509970B2
公开(公告)日：2019-12-17
申请号：US15862291
申请日：2018-01-04
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Dave Ferguson
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
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公开(公告)号：US10509402B1
公开(公告)日：2019-12-17
申请号：US15713263
申请日：2017-09-22
Applicant: Waymo LLC
Inventor： Dave Ferguson , Abhijit Ogale
Abstract: Methods and systems for the use of detected objects for image processing are described. A computing device autonomously controlling a vehicle may receive images of the environment surrounding the vehicle from an image-capture device coupled to the vehicle. In order to process the images, the computing device may receive information indicating characteristics of objects in the images from one or more sources coupled to the vehicle. Examples of sources may include RADAR, LIDAR, a map, sensors, a global positioning system (GPS), or other cameras. The computing device may use the information indicating characteristics of the objects to process received images, including determining the approximate locations of objects within the images. Further, while processing the image, the computing device may use information from sources to determine portions of the image to focus upon that may allow the computing device to determine a control strategy based on portions of the image.
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公开(公告)号：US20190279005A1
公开(公告)日：2019-09-12
申请号：US15919045
申请日：2018-03-12
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting locations in an environment of a vehicle where objects are likely centered and determining properties of those objects. One of the methods includes receiving an input characterizing an environment external to a vehicle. For each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location is determined. Based on the first object scores, one or more locations from the plurality of locations are selected as locations in the environment at which respective objects are likely centered. Object properties of the objects that are likely centered at the selected locations are also determined.
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公开(公告)号：US09767369B2
公开(公告)日：2017-09-19
申请号：US15173347
申请日：2016-06-03
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06T9/00 , G06K9/00 , B60R11/04 , G06K9/62 , G01C21/00 , H04N19/117 , H04N19/136 , H04N19/17 , H04N19/167 , H04N19/85 , B60R11/00
CPC classification number: G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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