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    Actively modifying a field of view of an autonomous vehicle in view of constraints
    1.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    公开(公告)号：US09760092B2

    公开(公告)日：2017-09-12

    申请号：US13423143

    申请日：2012-03-16

    Applicant: David I. Ferguson ,  Jiajun Zhu

    Inventor： David I. Ferguson ,  Jiajun Zhu

    IPC: G05D1/02 ,  G08G1/16 ,  B60R1/00

    CPC classification number: G05D1/0231 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G05D1/0214 ,  G08G1/167

    Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

    System and method of indicating transition between street level images
    3.
    发明授权
    System and method of indicating transition between street level images 有权
    指示街道图像之间的过渡的系统和方法

    公开(公告)号：US09454847B2

    公开(公告)日：2016-09-27

    申请号：US12391516

    申请日：2009-02-24

    Applicant: Jiajun Zhu

    Inventor： Jiajun Zhu

    IPC: G06F17/30 ,  G06T19/00 ,  G06T17/05 ,  G06T15/20

    CPC classification number: G06T15/20 ,  G06F17/30241 ,  G06F17/30268 ,  G06T15/04 ,  G06T17/05 ,  G06T19/00 ,  G06T19/003 ,  G06T2200/04

    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。

    Using image content to facilitate navigation in panoramic image data
    5.
    发明授权
    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的导航

    公开(公告)号：US08963915B2

    公开(公告)日：2015-02-24

    申请号：US13605635

    申请日：2012-09-06

    Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

    Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

    IPC: G06T19/00 ,  G06T15/00 ,  G06T15/06

    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。

    System to automatically measure perception sensor latency in an autonomous vehicle
    6.
    发明授权
    System to automatically measure perception sensor latency in an autonomous vehicle 有权
    自动测量自主车辆感知传感器延迟的系统

    公开(公告)号：US08838322B1

    公开(公告)日：2014-09-16

    申请号：US13585486

    申请日：2012-08-14

    Applicant: Jiajun Zhu ,  David I. Ferguson

    Inventor： Jiajun Zhu ,  David I. Ferguson

    IPC: G01C22/00

    CPC classification number: G01C22/00 ,  B60W30/00 ,  G01S7/4004 ,  G01S7/497 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0213

    Abstract: A vehicle may operate in an autonomous mode in an environment during a test period. The vehicle may include at least one sensor coupled to the vehicle, configured to acquire sensor data during the test period. The sensor data may include data representative of a target object in the environment. The vehicle may operate the sensor to obtain the sensor data. The vehicle may define a movement of the vehicle, determine a predicted movement of the target object in the sensor data based on the defined movement, initiate the defined movement of the vehicle at an initiation time during the test period, complete the defined movement of the vehicle at a completion time during the test period, analyze the sensor data obtained during the test period, and determine a latency of the at least one sensor based on the analyzed data.

    Abstract translation: 在测试期间，车辆可以在环境中以自主模式操作。 车辆可以包括耦合到车辆的至少一个传感器，被配置为在测试期间获取传感器数据。 传感器数据可以包括表示环境中的目标对象的数据。 车辆可以操作传感器以获得传感器数据。 车辆可以定义车辆的运动，基于所确定的运动来确定传感器数据中的目标物体的预测运动，在测试期间的起始时间开始定义的车辆运动，完成定义的运动 在测试期间的完成时间，分析在测试期间获得的传感器数据，并且基于分析的数据确定至少一个传感器的等待时间。

    System and method of determining distances between geographic positions
    7.
    发明授权
    System and method of determining distances between geographic positions 有权
    确定地理位置之间距离的系统和方法

    公开(公告)号：US08700304B1

    公开(公告)日：2014-04-15

    申请号：US13535940

    申请日：2012-06-28

    Applicant: Jiajun Zhu

    Inventor： Jiajun Zhu

    IPC: G05D1/02

    CPC classification number: G01C5/00

    Abstract: A system and method is provided of determining geographic positions. In one aspect, a user points the device at first and second positions on the surface of a geographic object. Based on the position of the device, the orientation of the device, and information identifying the geographic position of the surface of the object, a processor determines and displays the distance between the first and second positions.

    Abstract translation: 提供了确定地理位置的系统和方法。 在一个方面，用户将设备指向地理对象表面上的第一和第二位置。 基于设备的位置，设备的方向以及识别对象的表面的地理位置的信息，处理器确定并显示第一和第二位置之间的距离。

    Generating video from panoramic images using transition trees
    8.
    发明授权
    Generating video from panoramic images using transition trees 有权

    公开(公告)号：US08633964B1

    公开(公告)日：2014-01-21

    申请号：US12891267

    申请日：2010-09-27

    Applicant: Jiajun Zhu

    Inventor： Jiajun Zhu

    IPC: H04N7/00

    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.

    Obstacle Evaluation Technique
    9.
    发明申请
    Obstacle Evaluation Technique 有权
    障碍评估技术

    公开(公告)号：US20130332061A1

    公开(公告)日：2013-12-12

    申请号：US13489794

    申请日：2012-06-06

    Applicant: Jonathan Baldwin Dowdall ,  Jiajun Zhu

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu

    IPC: G08G1/16

    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。

    System and method of determining distances between geographic positions
    10.
    发明授权
    System and method of determining distances between geographic positions 有权
    确定地理位置之间距离的系统和方法

    公开(公告)号：US08244462B1

    公开(公告)日：2012-08-14

    申请号：US12469937

    申请日：2009-05-21

    Applicant: Jiajun Zhu

    Inventor： Jiajun Zhu

    IPC: G01C21/12 ,  G01C21/10

    CPC classification number: G01C5/00

    Abstract: A system and method is provided of determining geographic positions. In one aspect, a user points the device at first and second positions on the surface of a geographic object. Based on the position of the device, the orientation of the device, and information identifying the geographic position of the surface of the object, a processor determines and displays the distance between the first and second positions.

    Abstract translation: 提供了确定地理位置的系统和方法。 在一个方面，用户将设备指向地理对象表面上的第一和第二位置。 基于设备的位置，设备的方向以及识别对象的表面的地理位置的信息，处理器确定并显示第一和第二位置之间的距离。

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