公开(公告)号：US12298765B2

公开(公告)日：2025-05-13

申请号：US17584058

申请日：2022-01-25

Applicant: Huawei Technologies Co., Ltd.

Inventor： Yuan Ren ,  Bingbing Liu

IPC: G05D1/00 ,  B60W40/114 ,  B60W60/00 ,  G01S7/48 ,  G01S17/89 ,  G06V20/58 ,  G07C5/08

Abstract: A method and system for localization of an autonomous vehicle in real-time disclosed. A particle filter process is used to generate an estimate of a pose of the autonomous vehicle based on a three-dimensional point cloud, a two-dimensional (2D) feature map and odometry data. A location of the autonomous vehicle in the environment is generated comprising a final pose of the vehicle determined based on the estimate of the pose of the autonomous vehicle and the odometry data, an elevation of the autonomous vehicle generated based on the final pose of the autonomous vehicle and the 2D feature map, and an orientation of the autonomous vehicle generated based on the odometry data.

公开(公告)号：US12079970B2

公开(公告)日：2024-09-03

申请号：US17492261

申请日：2021-10-01

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Ran Cheng ,  Christopher George-R Agia ,  Bingbing Liu ,  Yuan Ren

IPC: G06T5/77 ,  G06F18/21 ,  G06F18/24 ,  G06N3/04 ,  G06T7/521 ,  G06V20/56 ,  G06V30/262 ,  G01S7/48 ,  G01S17/42 ,  G01S17/89

CPC classification number: G06T5/77 ,  G06F18/2163 ,  G06F18/24 ,  G06T7/521 ,  G06V20/56 ,  G06V30/274 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/89 ,  G06N3/04 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: Methods and systems for performing semantic scene completion of sparse 3D data are described. A frame of sparse 3D data is preprocessed into a sparse 3D tensor and a sparse 2D tensor. A partially completed 3D tensor is generated from the sparse 3D tensor using a 3D prediction network, and a semantically completed 2D tensor is generated from the sparse 2D tensor using a 2D prediction network. The partially completed 3D tensor is completed to obtain a semantically completed 3D tensor by assigning a given class label, which has been assigned to a given pixel in the semantically completed 2D tensor, to a voxel at a corresponding x-y coordinate in the partially completed 3D tensor.