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公开(公告)号：US20210201578A1
公开(公告)日：2021-07-01
申请号：US16729266
申请日：2019-12-27
申请人： Lyft, Inc.
发明人： Rupsha Chaudhuri , Kumar Hemachandra Chellapilla , Tanner Cotant Christensen , Newton Ko Yue Der , Joan Devassy , Suneet Rajendra Shah
摘要： Examples disclosed herein may involve (i) identifying, in a 3D point cloud representative of a real-world environment in which a vehicle was operating during a window of time, a set of 3D data points associated with an object detected in the environment that comprises different subsets of 3D data points corresponding to different capture times within the window of time, (ii) based at least on the 3D data points, evaluating a trajectory of the object and thereby determining that the object was in motion during some portion of the window of time, (iii) in response to determining that the object was in motion, reconstructing the different subsets of 3D data points into a single, assembled 3D representation of the object, and (iv) generating a time-aggregated, 3D visualization of the environment that presents the single, assembled 3D representation of the object at one or more points along the trajectory of the object.
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公开(公告)号：US10909392B1
公开(公告)日：2021-02-02
申请号：US16729264
申请日：2019-12-27
申请人： Lyft, Inc.
发明人： Rupsha Chaudhuri , Kumar Hemachandra Chellapilla , Tanner Cotant Christensen , Newton Ko Yue Der , Joan Devassy , Suneet Rajendra Shah
摘要： Examples disclosed herein may involve (i) based on an analysis of 2D data captured by a vehicle while operating in a real-world environment during a window of time, generating a 2D track for at least one object detected in the environment comprising one or more 2D labels representative of the object, (ii) for the object detected in the environment: (a) using the 2D track to identify, within a 3D point cloud representative of the environment, 3D data points associated with the object, and (b) based on the 3D data points, generating a 3D track for the object that comprises one or more 3D labels representative of the object, and (iii) based on the 3D point cloud and the 3D track, generating a time-aggregated, 3D visualization of the environment in which the vehicle was operating during the window of time that includes at least one 3D label for the object.
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公开(公告)号：US20210201055A1
公开(公告)日：2021-07-01
申请号：US17164477
申请日：2021-02-01
申请人： Lyft, Inc.
发明人： Rupsha Chaudhuri , Kumar Hemachandra Chellapilla , Tanner Cotant Christensen , Newton Ko Yue Der , Joan Devassy , Suneet Rajendra Shah
摘要： Examples disclosed herein may involve (i) based on an analysis of 2D data captured by a vehicle while operating in a real-world environment during a window of time, generating a 2D track for at least one object detected in the environment comprising one or more 2D labels representative of the object, (ii) for the object detected in the environment: (a) using the 2D track to identify, within a 3D point cloud representative of the environment, 3D data points associated with the object, and (b) based on the 3D data points, generating a 3D track for the object that comprises one or more 3D labels representative of the object, and (iii) based on the 3D point cloud and the 3D track, generating a time-aggregated, 3D visualization of the environment in which the vehicle was operating during the window of time that includes at least one 3D label for the object.
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