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1.发明授权3D position estimation of objects from a monocular camera using a set of known 3D points on an underlying surface 有权使用在底层表面上的已知3D点集合的单目相机的物体的3D位置估计公开(公告)号：US09558584B1
公开(公告)日：2017-01-31
申请号：US13952853
申请日：2013-07-29
Applicant: Google Inc.
Inventor： Wan-Yen Lo , David I. Ferguson
CPC classification number: G06K9/00798 , B60R1/00 , B60R11/04 , B60R2300/301 , B60R2300/8093 , B60W30/00 , G01C21/005 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D1/0274 , G06K9/6267 , G06T7/50 , G06T7/70 , G06T15/20 , G06T15/205 , G06T17/10 , G06T2207/30256
Abstract: An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.
Abstract translation: 示例性方法可以包括确定环境中的多个参考点的三维（3D）位置，接收包含对象的环境的一部分的二维（2D）图像，从 多个参考点，当投影到包含对象的至少一部分的2D图像中时形成多边形，确定朝向对象的射线的交点和由所选择的参考点形成的3D多边形，并且基于 指向对象的射线的交点和由所选择的参考点形成的3D多边形，确定对象在环境中的3D位置。
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公开(公告)号：US09558413B2
公开(公告)日：2017-01-31
申请号：US15158008
申请日：2016-05-18
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo
IPC: G06K9/00 , G05D1/00 , G06T7/00 , G06T7/40 , G06T7/60 , G06K9/32 , G06K9/46 , G06K9/62 , B60Q1/26 , H04N5/225
CPC classification number: G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
Abstract translation: 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。
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公开(公告)号：US09563199B1
公开(公告)日：2017-02-07
申请号：US14254830
申请日：2014-04-16
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo , Nathaniel Fairfield
CPC classification number: G05D1/0246 , B60W40/04 , B60W2050/0077 , B60W2050/0215 , G05D1/00 , G05D1/0022 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G07C5/008 , H04L67/125
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
Abstract translation: 本文公开了用于向自主车辆系统提供补充识别能力的系统和方法。 车辆的传感器单元可以被配置为接收指示车辆的环境的数据，而控制系统可被配置为操作车辆。 车辆还可以包括处理单元，其被配置为分析指示环境的数据，以确定具有低于阈值的检测置信度的至少一个对象。 基于具有低于阈值的检测置信度的至少一个对象，处理器可以传达指示环境的数据的至少一个子集用于进一步处理。 车辆还被配置为接收数据子集的对象确认的指示。 基于数据子集的对象确认，处理器可以改变控制系统对车辆的控制。
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公开(公告)号：US09463794B1
公开(公告)日：2016-10-11
申请号：US14845616
申请日：2015-09-04
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
CPC classification number: G05D1/0088 , B60W30/00 , B60W2550/22 , G01C21/26 , G01C21/3602 , G05D1/0231
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
Abstract translation: 本公开的方面涉及检测和响应停止标志。 在具有位置坐标的车辆环境中检测到的物体可以被识别为停止符号，并且可以确定所识别的停止符号的位置坐标是否对应于详细地图信息中的停止标志的位置。 然后，可以基于详细的地图信息或多个因素来确定所识别的停车标志是否适用于车辆。 然后，如果所确定的停止标志被确定为适用于车辆，则可以确定车辆对停车标志的响应，并且可以基于所确定的响应来控制车辆。
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公开(公告)号：US09387854B1
公开(公告)日：2016-07-12
申请号：US14829979
申请日：2015-08-19
Applicant: Google Inc.
Inventor： David I. Ferguson , Wan-Yen Lo
CPC classification number: B60W30/09 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2550/10 , G01C21/30 , G05D1/0088 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/6289
Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.
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Patent Agency Ranking
公开(公告)号：US09373045B1
公开(公告)日：2016-06-21
申请号：US15002775
申请日：2016-01-21
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo
CPC classification number: G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
Abstract translation: 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。
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7.发明授权Use of environmental information to aid image processing for autonomous vehicles 有权使用环境信息来辅助自主车辆的图像处理公开(公告)号：US09145139B2
公开(公告)日：2015-09-29
申请号：US13925795
申请日：2013-06-24
Applicant: Google Inc.
Inventor： David I. Ferguson , Wan-Yen Lo
CPC classification number: B60W30/09 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2550/10 , G01C21/30 , G05D1/0088 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/6289
Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.
Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境行进路线的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。
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公开(公告)号：US20160252905A1
公开(公告)日：2016-09-01
申请号：US14471640
申请日：2014-08-28
Applicant: Google Inc.
Inventor： Yuandong Tian , Wan-Yen Lo , David Ian Franklin Ferguson
IPC: G05D1/00
CPC classification number: G06K9/00825 , B60W30/00
Abstract: A system and method is provided for detecting and responding to emergency vehicles. In one aspect, one or more computing devices may identify a set of light sources from an image based at least in part on one or more templates, and may filter the set of light sources in order to identify one or more light sources corresponding to a potential emergency vehicle. Moreover, the one or more computing devices may determine whether any of the one or more light sources is flashing and whether any of the one or more light sources is associated with a particular type of the potential emergency vehicle. Further, the one or more computing devices may maneuver a vehicle based on the determination to yield in response to at least one of the one or more flashing light sources and the particular type of the emergency vehicle.
Abstract translation: 提供了一种用于检测和应对紧急车辆的系统和方法。 在一个方面，一个或多个计算设备可以至少部分地基于一个或多个模板从图像识别一组光源，并且可以对该组光源进行滤波，以便识别与一个或多个光源对应的一个或多个光源 潜在的应急车辆 此外，一个或多个计算设备可以确定一个或多个光源中的任何一个是否闪烁，以及一个或多个光源中的任何一个是否与特定类型的潜在应急车辆相关联。 此外，一个或多个计算设备可以基于响应于一个或多个闪光光源和特定类型的紧急车辆中的至少一个的确定来操纵车辆。
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公开(公告)号：US09424475B1
公开(公告)日：2016-08-23
申请号：US14488792
申请日：2014-09-17
Applicant: Google Inc.
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson
CPC classification number: G06K9/00805 , G06K9/00536 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/4604 , G06K9/4652
Abstract: Aspects of the disclosure relate to identifying construction objects. As an example, an image captured by a camera associated with a vehicle as the vehicle is driven along a roadway may be received. This image may be converted into a first channel corresponding to an average brightness contribution from red, blue and green channels of the image. The image may also be converted into a second channel corresponding to a contribution of a color from the red and the green channels of the image. A template may then be used to identify a region of the image corresponding to a potential construction object from the first channel and the second channel.
Abstract translation: 本公开的方面涉及识别施工对象。 作为示例，可以接收通过与作为车辆的车辆相关联的照相机拍摄的图像沿着道路被驱动。 该图像可以被转换成对应于图像的红色，蓝色和绿色通道的平均亮度贡献的第一通道。 图像也可以被转换成对应于来自图像的红色和绿色通道的颜色的贡献的第二通道。 然后可以使用模板来识别来自第一通道和第二通道的对应于潜在施工对象的图像的区域。
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10.发明申请USE OF ENVIRONMENTAL INFORMATION TO AID IMAGE PROCESSING FOR AUTONOMOUS VEHICLES 有权使用环境信息对自动车辆进行图像处理公开(公告)号：US20160214605A1
公开(公告)日：2016-07-28
申请号：US14829979
申请日：2015-08-19
Applicant: Google Inc.
Inventor： David I. Ferguson , Wan-Yen Lo
CPC classification number: B60W30/09 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2550/10 , G01C21/30 , G05D1/0088 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/6289
Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.
Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境行进路线的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。
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