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公开(公告)号：US10540794B2
公开(公告)日：2020-01-21
申请号：US15290606
申请日：2016-10-11
Applicant: Google Inc.
Inventor： Jiajun Zhu , Daniel Joseph Filip , Luc Vincent
Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.
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公开(公告)号：US20170186229A1
公开(公告)日：2017-06-29
申请号：US15460727
申请日：2017-03-16
Applicant: Google Inc.
Inventor： Jiajun Zhu , Daniel Joseph Filip , Luc Vincent
CPC classification number: G06T19/003 , G06F3/04815 , G06T3/4038 , G06T15/06 , G06T17/00 , G06T19/00 , G06T2200/32
Abstract: The technology uses image content to facilitate navigation in panoramic image data. Aspects include providing a first image including a plurality of avatars, in which each avatar corresponds to an object within the first image, and determining an orientation of at least one of the plurality of avatars to a point of interest within the first image. A viewport is determined for a first avatar in accordance with the orientation thereof relative to the point of interest, which is included within the first avatar's viewport. In response to received user input, a second image is selected that includes at least a second avatar and the point of interest from the first image. A viewport of the second avatar in the second image is determined and the second image is oriented to align the second avatar's viewpoint with the point of interest to provide navigation between the first and second images.
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公开(公告)号：US20170176641A1
公开(公告)日：2017-06-22
申请号：US15449097
申请日：2017-03-03
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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公开(公告)号：US09499172B2
公开(公告)日：2016-11-22
申请号：US13623422
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
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.
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5.发明授权公开(公告)号：US09360556B2
公开(公告)日：2016-06-07
申请号：US14614853
申请日：2015-02-05
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
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Patent Agency Ranking
公开(公告)号：US09315192B1
公开(公告)日：2016-04-19
申请号：US14041121
申请日：2013-09-30
Applicant: Google Inc.
Inventor： Jiajun Zhu , Peter Morton
CPC classification number: B60W30/18 , G05D1/0246 , G06K9/00369 , G06K9/00805 , G06K9/6217 , G06T11/00
Abstract: An autonomous vehicle configured to detect and avoid pedestrians may use information from LIDAR or other range-based sensors. An example method involves: (a) receiving, at a computing device, range data corresponding to a plurality of objects in an environment of a vehicle, wherein the range data comprises a plurality of first data points; (b) generating a spherical data set comprising a plurality of second data points, wherein spherical coordinates for each second data point are generated based on a corresponding one of the first plurality of data points; and (c) determining a two-dimensional map based on the spherical data set comprising the plurality of second data points, wherein the two-dimensional map comprises a plurality of pixels, wherein each pixel of the plurality of pixels is indicative of a plurality of parameters corresponding to the plurality of objects in the environment.
Abstract translation: 配置成检测和避免行人的自主车辆可以使用来自LIDAR或其他基于范围的传感器的信息。 示例性方法包括：（a）在计算设备处接收与车辆环境中的多个对象相对应的范围数据，其中所述距离数据包括多个第一数据点; （b）产生包括多个第二数据点的球面数据集，其中基于所述第一多个数据点中的相应一个数据点生成每个第二数据点的球坐标; 以及（c）基于包括所述多个第二数据点的球面数据集来确定二维图，其中所述二维图包括多个像素，其中所述多个像素中的每个像素指示多个 对应于环境中的多个对象的参数。
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公开(公告)号：US09256226B1
公开(公告)日：2016-02-09
申请号：US14252966
申请日：2014-04-15
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dirk Haehnel
CPC classification number: G05D1/0274 , B60K31/0008 , G01S17/42 , G01S17/89 , G01S17/936 , G05D1/0088 , G05D1/024 , G06K9/00791 , G06K9/00805 , G06T7/11 , G06T7/13 , G06T2207/10016 , G06T2207/10028 , G06T2207/30261
Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.
Abstract translation: 本公开的方面通常涉及操纵自主车辆。 具体地，车辆可以使用激光来收集道路的一部分的扫描数据。 车辆可以访问包括道路部分的详细地图。 可以根据详细地图从扫描数据识别表示对象并包括一组数据点数据的干扰。 详细的地图也可以用来估计干扰的方向。 可以使用该组数据点以及估计的标题来估计扰动的边界框。 然后可以调整边界框的参数，以便增加或最大化沿着激光可见的边界框的边缘的扰动的数据点的平均密度。 然后可以使用该调整的边界框来操纵车辆。
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公开(公告)号：US09234618B1
公开(公告)日：2016-01-12
申请号：US13629378
申请日：2012-09-27
Applicant: Google Inc.
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov , Jonathan Baldwin Dowdall
CPC classification number: G01N21/27 , F16L55/00 , G01C3/08 , G01S7/4808 , G01S7/497 , G01S17/023 , G01S17/08 , G01S17/10 , G01S17/42 , G01S17/89 , G01S17/936 , G05D1/0088
Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.
Abstract translation: 与自主车辆相关联的光检测和测距装置在发射光脉冲的同时扫描扫描区域并接收对应于光脉冲的反射信号。 反射信号表示扫描区域中反射点分布的三维点图。 高光谱传感器对与三维点图所示的反射特征对应的扫描区域进行成像。 来自高光谱传感器的输出包括表征从反射特征接收的辐射的光谱分布的光谱信息。 反射特征的光谱特征允许区分固体物体与非固体反射特征，并且提供固体物体的映射以通知实时导航决定。
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公开(公告)号：US09110196B2
公开(公告)日：2015-08-18
申请号：US13623397
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
CPC classification number: G01W1/02 , G01S7/4802 , G01S17/42 , G01S17/89 , G01S17/95 , G01W1/10 , Y02A90/19
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.
Abstract translation: 本公开的方面通常涉及检测道路天气状况。 可以使用包括激光，降水传感器和/或照相机的车辆传感器来检测诸如道路的亮度，道路亮度的变化，世界的亮度，当前的降水以及检测到的高度 马路。 也可以考虑从其他来源获得的信息，例如网络天气信息（预测，雷达，降水报告等）。 接收和检测信息的组合可用于估计巷道中的降水概率，例如水，雪或冰。 然后可以使用该信息来操纵自主车辆（用于转向，加速或制动）或识别危险情况。
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10.发明授权公开(公告)号：US08989944B1
公开(公告)日：2015-03-24
申请号：US14090308
申请日：2013-11-26
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu , Dmitri Dolgov
CPC classification number: G08G1/166 , G01S13/589 , G01S13/723 , G01S13/86 , G01S13/867 , G01S13/87 , G01S13/931 , G01S15/025 , G01S15/588 , G01S17/58 , G01S17/936 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9389 , G01S2013/9396 , G01S2015/938
Abstract: An example method may include receiving a first set of points based on detection of an environment of an autonomous vehicle during a first time period, selecting a plurality of points from the first set of points that form a first point cloud representing an object in the environment, receiving a second set of points based on detection of the environment during a second time period which is after the first period, selecting a plurality of points from the second set of points that form a second point cloud representing the object in the environment, determining a transformation between the selected points from the first set of points and the selected points from the second set of points, using the transformation to determine a velocity of the object, and providing instructions to control the autonomous vehicle based at least in part on the velocity of the object.
Abstract translation: 示例性方法可以包括基于在第一时间段期间对自主车辆的环境的检测来接收第一组点，从形成表示环境中的对象的第一点云的第一组点中选择多个点 基于在所述第一时段之后的第二时间段期间的所述环境的检测来接收第二组点，从形成在所述环境中的对象的第二点云的所述第二组点中选择多个点，确定 使用所述变换来确定所述对象的速度，并且提供至少部分地基于所述速度控制所述自主车辆的指令的来自所述第一组点的所选点与来自所述第二组点的所选点之间的变换 的对象。
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