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公开(公告)号：US20200286247A1
公开(公告)日：2020-09-10
申请号：US16809348
申请日：2020-03-04
Applicant: QUALCOMM Incorporated
Inventor： Urs NIESEN , Jayakrishnan UNNIKRISHNAN
Abstract: Disclosed are techniques for radar-aided single-image three-dimensional (3D) depth reconstruction. In an aspect, at least one processor of an on-board computer of an ego vehicle receives, from a radar sensor of the ego vehicle, at least one radar image of an environment of the ego vehicle, receives, from a camera sensor of the ego vehicle, at least one camera image of the environment of the ego vehicle, and generates, using a convolutional neural network (CNN), a depth image of the environment of the ego vehicle based on the at least one radar image and the at least one camera image.
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公开(公告)号：US20230087261A1
公开(公告)日：2023-03-23
申请号：US17480016
申请日：2021-09-20
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan UNNIKRISHNAN , Avdhut JOSHI
Abstract: Systems and techniques are described for performing object detection and tracking. For example, a tracking object can obtain an image comprising a target object at least partially in contact with a surface. The tracking object can obtain a plurality of two-dimensional (2D) keypoints based on one or more features associated with one or more portions of the target object in contact with the surface in the image. The tracking object can obtain information associated with a contour of the surface. Based on the plurality of 2D keypoints and the information associated with the contour of the surface, the tracking object can determine a three-dimensional (3D) representation associated with the plurality of 2D keypoints.
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公开(公告)号：US20220171069A1
公开(公告)日：2022-06-02
申请号：US17107421
申请日：2020-11-30
Applicant: QUALCOMM Incorporated
Inventor： Michael John HAMILTON , Jayakrishnan UNNIKRISHNAN , Urs NIESEN
IPC: G01S17/931 , G02B26/12
Abstract: Methods, systems, computer-readable media, and apparatuses for radar or LIDAR measurement are presented. Some configurations include transmitting, via a transceiver, a first beam having a first frequency characteristic; calculating a distance between the transceiver and a moving object based on information from at least one reflection of the first beam; transmitting, via the transceiver, a second beam having a second frequency characteristic that is different than the first frequency characteristic, wherein the second beam is directed such that an axis of the second beam intersects a ground plane; and calculating an ego-velocity of the transceiver based on information from at least one reflection of the second beam. Applications relating to road vehicular (e.g., automobile) use are described.
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公开(公告)号：US20240096111A1
公开(公告)日：2024-03-21
申请号：US18336860
申请日：2023-06-16
Applicant: QUALCOMM Incorporated
Inventor： Shivam AGARWAL , Avdhut JOSHI , Jayakrishnan UNNIKRISHNAN , Yoga Y NADARAAJAN , Sree Sesha Aravind VADREVU , Gautam SACHDEVA
CPC classification number: G06V20/588 , B60W60/001 , G06T7/70 , B60W2420/52 , G06T2207/30256
Abstract: Systems and techniques are described herein for determining lane associations of target vehicles. For instance, a method for determining lane associations of target vehicles is provided. The method may include obtaining a two-dimensional bounding box defining a position within an image frame that is associated with a target vehicle; obtaining lane markers defining a position within the image frame that is associated with at least one lane boundary; and associating a lane with the target vehicle based on a relationship between the two-dimensional bounding box and the lane markers.
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公开(公告)号：US20200218913A1
公开(公告)日：2020-07-09
申请号：US16733222
申请日：2020-01-02
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan UNNIKRISHNAN , Avdhut JOSHI , Shivam AGARWAL , Amir SALIMI , Sree Sesha Aravind VADREVU , Gautam SACHDEVA , Yoga Y NADARAAJAN , Ravi Teja SUKHAVASI , Aolin XU , Xinzhou WU , Young-Ki BAIK , Duck Hoon KIM , Hyun-Mook CHO
IPC: G06K9/00 , G06T7/277 , G06T7/246 , G01S13/931 , B60R11/04
Abstract: Disclosed are techniques for determining a motion state of a target object. In an aspect, an on-board computer of an ego vehicle detects the target object in one or more images, determines one or more first attributes of the target object based on measurements of the one or more images, determines one or more second attributes of the target object based on measurements of a map of a roadway on which the target object is travelling, and determines the motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.
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Patent Agency Ranking
公开(公告)号：US20200217950A1
公开(公告)日：2020-07-09
申请号：US16734779
申请日：2020-01-06
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan UNNIKRISHNAN , Urs NIESEN
Abstract: Systems and methods for resolving elevation ambiguity include acquiring, using a 1-D horizontal radar antenna array, a radar frame with range and azimuth information, and predicting a target elevation based on the frame by computing a depth map with a plurality of target depths assigned to corresponding azimuth-elevation pairs. Computing the depth map includes processing the radar frame with an encoder-decoder structured deep convolutional neural network (CNN). The CNN may be trained with a dataset including training radar frames acquired in a number of environments, and compensated ground truth depth maps associated with those environments. The compensated ground truth depth maps may be generated by subtracting a ground-depth from a corresponding ground truth depth map. The ground truth depth maps may be acquired with a 2-D range sensor, such as a LiDAR sensor, a 2-D radar sensor, and/or an IR sensor. The radar frame may also include Doppler data.
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公开(公告)号：US20240101158A1
公开(公告)日：2024-03-28
申请号：US18336840
申请日：2023-06-16
Applicant: QUALCOMM Incorporated
Inventor： Shivam AGARWAL , Avdhut JOSHI , Jayakrishnan UNNIKRISHNAN , Yoga Y NADARAAJAN , Sree Sesha Aravind VADREVU , Gautam SACHDEVA
IPC: B60W60/00
CPC classification number: B60W60/0027 , B60W2420/42 , B60W2554/4041
Abstract: Systems and techniques are described herein for determining at least one location of at least one target vehicle relative to a lane. For instance, a method for determining at least one location of at least one target vehicle relative to a lane is provided. The method may include obtaining a position of a target vehicle within an image; obtaining one or more positions of a lane boundary within the image; determining a distance between the target vehicle and the lane boundary based on the position of the target vehicle within the image and the one or more positions of the lane boundary within the image; and adjusting a position of the target vehicle in a map based on the distance between the target vehicle and the lane boundary and a position of the lane boundary in the map
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公开(公告)号：US20220180537A1
公开(公告)日：2022-06-09
申请号：US17678955
申请日：2022-02-23
Applicant: QUALCOMM Incorporated
Inventor： Urs NIESEN , Jayakrishnan UNNIKRISHNAN
Abstract: Disclosed are techniques for radar-aided single-image three-dimensional (3D) depth reconstruction. In an aspect, at least one processor of an on-board computer of an ego vehicle receives, from a radar sensor of the ego vehicle, at least one radar image of an environment of the ego vehicle, receives, from a camera sensor of the ego vehicle, at least one camera image of the environment of the ego vehicle, receives, from a light detection and ranging (LiDAR) sensor of the ego vehicle, at least one LiDAR image of the environment of the ego vehicle, and generates a depth image of the environment of the ego vehicle based on the at least one radar image, the at least one LiDAR image, and the at least one camera image.
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公开(公告)号：US20210209785A1
公开(公告)日：2021-07-08
申请号：US17142199
申请日：2021-01-05
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan UNNIKRISHNAN , Avdhut JOSHI , Shivam AGARWAL , Yoga Y NADARAAJAN , Amir SALIMI , Urs NIESEN , Sree Sesha Aravind VADREVU , Gautam SACHDEVA
Abstract: Techniques and systems are provided for determining one or more sizes of one or more objects. For example, a bounding region identifying a first object detected in an image can be obtained. A map including map points can also be obtained. The map points correspond to one or more reference locations in a three-dimensional space. The bounding region identifying the first object can be associated with at least one map point of the map points included in the map. Using the bounding region and the at least one map point, an estimated three-dimensional position and an estimated size of the first object detected in the image can be determined. In some examples, other information can be used to estimate the estimated three-dimensional position and an estimated size of the first object, such as radar information and/or other information.
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10.发明申请公开(公告)号：US20200219264A1
公开(公告)日：2020-07-09
申请号：US16734752
申请日：2020-01-06
Applicant: QUALCOMM Incorporated
Inventor： Christopher BRUNNER , Radhika Dilip GOWAIKAR , Fu-Chun YEH , Michael Joshua SHOMIN , John Anthony DOUGHERTY , Jayakrishnan UNNIKRISHNAN
Abstract: Disclosed are techniques for annotating image frames using information from a light detection and ranging (LiDAR) sensor. An exemplary method includes receiving, from the LiDAR sensor, at least one LiDAR frame, receiving, from a camera sensor, at least one image frame, removing LiDAR points that represent a ground surface of the environment, identifying LiDAR points of interest in the at least one LiDAR frame, segmenting the LiDAR points of interest to identify at least one object of interest in the at least one LiDAR frame, and annotating the at least one image frame with a three-dimensional oriented bounding box of the at least one object of interest detected in the at least one image frame by projecting the three-dimensional oriented bounding boxes from the at least one LiDAR frame to the at least one image frame using cross-calibration transforms between the LiDAR sensor and the camera.
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