BR112018010981A2 - modelo de sensor de visão estéreo ciente de mapa estocástico - Google Patents

modelo de sensor de visão estéreo ciente de mapa estocástico

Info

Publication number
BR112018010981A2
BR112018010981A2 BR112018010981A BR112018010981A BR112018010981A2 BR 112018010981 A2 BR112018010981 A2 BR 112018010981A2 BR 112018010981 A BR112018010981 A BR 112018010981A BR 112018010981 A BR112018010981 A BR 112018010981A BR 112018010981 A2 BR112018010981 A2 BR 112018010981A2
Authority
BR
Brazil
Prior art keywords
stochastic map
sensor model
vision sensor
stereo vision
stochastic
Prior art date
Application number
BR112018010981A
Other languages
English (en)
Inventor
Aghamohammadi Aliakbar
Fallah Behabadi Bardia
Matthew Wierzynski Casimir
lott Christopher
Reitmayr Gerhard
Somasundaram Kiran
Paige Gibson Sarah
Agarwal Saurav
Diaz Spindola Serafin
Omidshafiei Shayegan
Original Assignee
Qualcomm Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of BR112018010981A2 publication Critical patent/BR112018010981A2/pt

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • G06F18/2415—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on parametric or probabilistic models, e.g. based on likelihood ratio or false acceptance rate versus a false rejection rate
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Data Mining & Analysis (AREA)
  • Electromagnetism (AREA)
  • Computing Systems (AREA)
  • Software Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Probability & Statistics with Applications (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

um método para definir um modelo de sensor inclui determinar uma probabilidade de obter uma medição a partir de múltiplas causas em potencial em um campo de visão de um sensor modelado com base em um mapa estocástico. o mapa estocástico inclui um nível de ocupação média para cada voxel no mapa estocástico e uma variância do nível de ocupação média para cada pixel. o método também inclui determinar uma probabilidade de obter uma imagem com base na probabilidade determinada de obter a medição. o método inclui ainda planejar uma ação para um robô, compreendendo o sensor, com base na probabilidade de obter a imagem.
BR112018010981A 2015-12-02 2016-11-10 modelo de sensor de visão estéreo ciente de mapa estocástico BR112018010981A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562262339P 2015-12-02 2015-12-02
US15/192,603 US10613546B2 (en) 2015-12-02 2016-06-24 Stochastic map-aware stereo vision sensor model
PCT/US2016/061400 WO2017095604A1 (en) 2015-12-02 2016-11-10 Stochastic map-aware stereo vision sensor model

Publications (1)

Publication Number Publication Date
BR112018010981A2 true BR112018010981A2 (pt) 2018-12-04

Family

ID=57421947

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018010981A BR112018010981A2 (pt) 2015-12-02 2016-11-10 modelo de sensor de visão estéreo ciente de mapa estocástico

Country Status (6)

Country Link
US (1) US10613546B2 (pt)
EP (1) EP3384358B1 (pt)
KR (1) KR102174873B1 (pt)
CN (1) CN108292138B (pt)
BR (1) BR112018010981A2 (pt)
WO (1) WO2017095604A1 (pt)

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EP3647728B1 (en) * 2018-11-05 2023-06-21 Toyota Jidosha Kabushiki Kaisha Map information system
CN111307166B (zh) * 2018-12-11 2023-10-03 北京图森智途科技有限公司 一种构建占据栅格地图的方法及其装置、处理设备
US11314254B2 (en) * 2019-03-26 2022-04-26 Intel Corporation Methods and apparatus for dynamically routing robots based on exploratory on-board mapping
KR20210076412A (ko) * 2019-12-16 2021-06-24 현대자동차주식회사 차량 센서 성능 평가 장치 및 그의 성능 평가 방법

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KR100611328B1 (ko) * 2005-06-30 2006-08-11 고려대학교 산학협력단 세선화 기반 위상지도의 작성방법 및 그 장치, 이동로봇의탐사를 통한 세선화 기반 위상지도 작성방법 및 그 장치
CN100449444C (zh) * 2006-09-29 2009-01-07 浙江大学 移动机器人在未知环境中同时定位与地图构建的方法
KR100787242B1 (ko) * 2006-10-23 2007-12-21 포항공과대학교 산학협력단 격자의 점유 확률을 통한 형상 기반 지도의 신뢰도 평가방법
KR101382982B1 (ko) * 2012-03-06 2014-04-09 고려대학교 산학협력단 로봇의 주행 경로 계획 장치 및 방법
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Also Published As

Publication number Publication date
CN108292138B (zh) 2021-06-01
US10613546B2 (en) 2020-04-07
US20170161910A1 (en) 2017-06-08
EP3384358B1 (en) 2021-06-30
EP3384358A1 (en) 2018-10-10
KR20180089417A (ko) 2018-08-08
WO2017095604A1 (en) 2017-06-08
CN108292138A (zh) 2018-07-17
KR102174873B1 (ko) 2020-11-05

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B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B07A Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]
B09B Patent application refused [chapter 9.2 patent gazette]
B12B Appeal against refusal [chapter 12.2 patent gazette]