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公开(公告)号：US20150310281A1
公开(公告)日：2015-10-29
申请号：US14791725
申请日：2015-07-06
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
Abstract translation: 本文描述了使用多个传感器进行物体检测的方法和系统。 在示例性实施例中，车辆的计算设备可以接收指示与多个传感器不同的速率的环境的传感器数据帧。 基于来自第一传感器的指示第一时间段的环境的第一帧和对应于从第二传感器的第一时间段的第一帧的一部分，计算设备可以估计车辆环境中的对象的参数。 响应于从传感器接收传感器数据的帧的后续帧或后续部分，计算设备可以修改参数，即使帧无序地到达计算设备。 计算设备可以将对象的参数提供给车辆的系统以用于物体检测和障碍物避免。
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Patent Agency Ranking
公开(公告)号：US09098753B1
公开(公告)日：2015-08-04
申请号：US14262269
申请日：2014-04-25
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
Abstract translation: 本文描述了使用多个传感器进行物体检测的方法和系统。 在示例性实施例中，车辆的计算设备可以接收指示与多个传感器不同的速率的环境的传感器数据帧。 基于来自第一传感器的指示第一时间段的环境的第一帧和对应于从第二传感器的第一时间段的第一帧的一部分，计算设备可以估计车辆环境中的对象的参数。 响应于从传感器接收传感器数据的帧的后续帧或后续部分，计算设备可以修改参数，即使帧无序地到达计算设备。 计算设备可以将对象的参数提供给车辆的系统以用于物体检测和障碍物避免。
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3.发明授权Estimating multi-vehicle motion characteristics by finding stable reference points 有权通过找到稳定的参考点来估计多车辆运动特性公开(公告)号：US08886387B1
公开(公告)日：2014-11-11
申请号：US14148874
申请日：2014-01-07
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu
CPC classification number: G05D1/0251 , G05D1/0253 , G05D2201/0213 , G06K9/00791 , G06T7/33 , G06T2207/10004 , G06T2207/10016 , G06T2207/10028 , G06T2207/20068 , G06T2207/20076 , G06T2207/30252 , G06T2207/30256
Abstract: A computing device may identify an object in an environment of a vehicle and receive a first three-dimensional (3D) point cloud depicting a first view of the object. The computing device may determine a reference point on the object in the first 3D point cloud, and receive a second 3D point cloud depicting a second view of the object. The computing device may determine a transformation between the first view and the second view, and estimate a projection of the reference point from the first view relative to the second view based on the transformation so as to trace the reference point from the first view to the second view. The computing device may determine one or more motion characteristics of the object based on the projection of the reference point.
Abstract translation: 计算设备可以识别车辆环境中的对象，并且接收描绘对象的第一视图的第一三维（3D）点云。 计算设备可以确定第一3D点云中的对象上的参考点，并且接收描绘对象的第二视图的第二3D点云。 计算设备可以确定第一视图和第二视图之间的变换，并且基于变换来估计参考点从第一视图相对于第二视图的投影，以便将参考点从第一视图跟踪到第 第二观点。 计算设备可以基于参考点的投影来确定对象的一个或多个运动特征。
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公开(公告)号：US09607226B2
公开(公告)日：2017-03-28
申请号：US14791725
申请日：2015-07-06
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
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5.发明授权Estimating multi-vehicle motion characteristics by finding stable reference points 有权通过找到稳定的参考点来估计多车辆运动特性公开(公告)号：US09207680B1
公开(公告)日：2015-12-08
申请号：US14510290
申请日：2014-10-09
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu
CPC classification number: G05D1/0251 , G05D1/0253 , G05D2201/0213 , G06K9/00791 , G06T7/33 , G06T2207/10004 , G06T2207/10016 , G06T2207/10028 , G06T2207/20068 , G06T2207/20076 , G06T2207/30252 , G06T2207/30256
Abstract: A computing device may identify an object in an environment of a vehicle and receive a first three-dimensional (3D) point cloud depicting a first view of the object. The computing device may determine a reference point on the object in the first 3D point cloud, and receive a second 3D point cloud depicting a second view of the object. The computing device may determine a transformation between the first view and the second view, and estimate a projection of the reference point from the first view relative to the second view based on the transformation so as to trace the reference point from the first view to the second view. The computing device may determine one or more motion characteristics of the object based on the projection of the reference point.
Abstract translation: 计算设备可以识别车辆环境中的对象，并且接收描绘对象的第一视图的第一三维（3D）点云。 计算设备可以确定第一3D点云中的对象上的参考点，并且接收描绘对象的第二视图的第二3D点云。 计算设备可以确定第一视图和第二视图之间的变换，并且基于变换来估计参考点从第一视图相对于第二视图的投影，以便将参考点从第一视图跟踪到第 第二观点。 计算设备可以基于参考点的投影来确定对象的一个或多个运动特征。
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6.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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