CN114901534A - 对象检测以及跟踪 - Google Patents

对象检测以及跟踪 Download PDF

Info

Publication number
CN114901534A
CN114901534A CN202080089895.4A CN202080089895A CN114901534A CN 114901534 A CN114901534 A CN 114901534A CN 202080089895 A CN202080089895 A CN 202080089895A CN 114901534 A CN114901534 A CN 114901534A
Authority
CN
China
Prior art keywords
output
tracking
environment
representation
data
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN202080089895.4A
Other languages
English (en)
Chinese (zh)
Inventor
S·达斯
J·W·V·菲尔宾
B·I·兹维贝尔
K·于
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox 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 Zoox Inc filed Critical Zoox Inc
Publication of CN114901534A publication Critical patent/CN114901534A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0027Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50Systems of measurement based on relative movement of target
    • G01S17/58Velocity or trajectory determination systems; Sense-of-movement determination systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • G05D1/0248Control 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 in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20Control system inputs
    • G05D1/24Arrangements for determining position or orientation
    • G05D1/247Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00Pattern recognition
    • G06F18/20Analysing
    • G06F18/25Fusion techniques
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • G06T7/215Motion-based segmentation
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • G06T7/246Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/251Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/20Analysis of motion
    • G06T7/292Multi-camera tracking
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/20Image preprocessing
    • G06V10/25Determination of region of interest [ROI] or a volume of interest [VOI]
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/70Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/778Active pattern-learning, e.g. online learning of image or video features
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/70Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10Character recognition
    • G06V30/19Recognition using electronic means
    • G06V30/191Design or setup of recognition systems or techniques; Extraction of features in feature space; Clustering techniques; Blind source separation
    • G06V30/19147Obtaining sets of training patterns; Bootstrap methods, e.g. bagging or boosting
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10Character recognition
    • G06V30/19Recognition using electronic means
    • G06V30/191Design or setup of recognition systems or techniques; Extraction of features in feature space; Clustering techniques; Blind source separation
    • G06V30/19173Classification techniques
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10Character recognition
    • G06V30/19Recognition using electronic means
    • G06V30/191Design or setup of recognition systems or techniques; Extraction of features in feature space; Clustering techniques; Blind source separation
    • G06V30/1918Fusion techniques, i.e. combining data from various sources, e.g. sensor fusion
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10Character recognition
    • G06V30/24Character recognition characterised by the processing or recognition method
    • G06V30/248Character recognition characterised by the processing or recognition method involving plural approaches, e.g. verification by template match; Resolving confusion among similar patterns, e.g. "O" versus "Q"
    • G06V30/2552Combination of methods, e.g. classifiers, working on different input data, e.g. sensor fusion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/20Static objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404Characteristics
    • B60W2554/4041Position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404Characteristics
    • B60W2554/4042Longitudinal speed
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10024Color image
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10028Range image; Depth image; 3D point clouds
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20081Training; Learning
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20084Artificial neural networks [ANN]
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30241Trajectory
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30248Vehicle exterior or interior
    • G06T2207/30252Vehicle exterior; Vicinity of vehicle
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30248Vehicle exterior or interior
    • G06T2207/30252Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Databases & Information Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Data Mining & Analysis (AREA)
  • Optics & Photonics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
CN202080089895.4A 2019-10-26 2020-10-23 对象检测以及跟踪 Pending CN114901534A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201962926423P 2019-10-26 2019-10-26
US62/926,423 2019-10-26
US16/779,576 2020-01-31
US16/779,576 US12012127B2 (en) 2019-10-26 2020-01-31 Top-down view object detection and tracking
PCT/US2020/057233 WO2021081459A1 (en) 2019-10-26 2020-10-23 Object detection and tracking

Publications (1)

Publication Number Publication Date
CN114901534A true CN114901534A (zh) 2022-08-12

Family

ID=75619374

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080089895.4A Pending CN114901534A (zh) 2019-10-26 2020-10-23 对象检测以及跟踪

Country Status (5)

Country Link
US (1) US12012127B2 (https=)
EP (1) EP4048568A4 (https=)
JP (1) JP7662628B2 (https=)
CN (1) CN114901534A (https=)
WO (1) WO2021081459A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115598729A (zh) * 2022-11-09 2023-01-13 北京有竹居网络技术有限公司(Cn) 在物理环境中检测对象的方法、装置、设备和存储介质

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10564641B2 (en) 2018-07-20 2020-02-18 May Mobility, Inc. Multi-perspective system and method for behavioral policy selection by an autonomous agent
US10614709B2 (en) 2018-07-24 2020-04-07 May Mobility, Inc. Systems and methods for implementing multimodal safety operations with an autonomous agent
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
WO2021016596A1 (en) 2019-07-25 2021-01-28 Nvidia Corporation Deep neural network for segmentation of road scenes and animate object instances for autonomous driving applications
US11912271B2 (en) * 2019-11-07 2024-02-27 Motional Ad Llc Trajectory prediction from precomputed or dynamically generated bank of trajectories
KR102732491B1 (ko) * 2019-11-12 2024-11-21 현대자동차주식회사 근거리 컷인 타겟 판단 장치 및 그의 판단 방법
US11532168B2 (en) * 2019-11-15 2022-12-20 Nvidia Corporation Multi-view deep neural network for LiDAR perception
US12080078B2 (en) 2019-11-15 2024-09-03 Nvidia Corporation Multi-view deep neural network for LiDAR perception
US11885907B2 (en) 2019-11-21 2024-01-30 Nvidia Corporation Deep neural network for detecting obstacle instances using radar sensors in autonomous machine applications
US12050285B2 (en) 2019-11-21 2024-07-30 Nvidia Corporation Deep neural network for detecting obstacle instances using radar sensors in autonomous machine applications
US11663726B2 (en) * 2020-01-31 2023-05-30 Zoox, Inc. Object velocity and/or yaw rate detection and tracking
US11983891B2 (en) * 2020-02-25 2024-05-14 Nippon Telegraph And Telephone Corporation Moving target tracking device, moving target tracking method, moving target tracking system, learning device, and program
US11580723B2 (en) * 2020-02-28 2023-02-14 Invision Ai Inc. Scene-aware object detection
EP3904907A1 (en) * 2020-04-29 2021-11-03 Aptiv Technologies Limited Methods and systems for tracking an object
US11823458B2 (en) * 2020-06-18 2023-11-21 Embedtek, LLC Object detection and tracking system
WO2022006418A1 (en) 2020-07-01 2022-01-06 May Mobility, Inc. Method and system for dynamically curating autonomous vehicle policies
WO2022014327A1 (ja) * 2020-07-14 2022-01-20 ソニーセミコンダクタソリューションズ株式会社 情報処理装置、情報処理方法、およびプログラム
US11487047B2 (en) * 2020-07-15 2022-11-01 International Business Machines Corporation Forecasting environmental occlusion events
KR20220056922A (ko) * 2020-10-28 2022-05-09 현대자동차주식회사 자율주행 제어 장치 및 방법
EP4260009A4 (en) 2020-12-14 2024-11-20 May Mobility, Inc. AUTONOMOUS VEHICLE SAFETY PLATFORM SYSTEM AND METHOD
EP4264181A4 (en) 2020-12-17 2024-10-30 May Mobility, Inc. METHOD AND SYSTEM FOR DYNAMIC UPDATING AN ENVIRONMENTAL REPRESENTATION OF AN AUTONOMOUS AGENT
US11858514B2 (en) 2021-03-30 2024-01-02 Zoox, Inc. Top-down scene discrimination
US11810225B2 (en) * 2021-03-30 2023-11-07 Zoox, Inc. Top-down scene generation
EP4314708A4 (en) 2021-04-02 2024-12-25 May Mobility, Inc. METHOD AND SYSTEM FOR OPERATING AN AUTONOMOUS AGENT WITH INCOMPLETE ENVIRONMENTAL INFORMATION
US12046013B2 (en) 2021-05-26 2024-07-23 Ford Global Technologies Llc Using relevance of objects to assess performance of an autonomous vehicle perception system
US20220382284A1 (en) * 2021-05-26 2022-12-01 Argo AI, LLC Perception system for assessing relevance of objects in an environment of an autonomous vehicle
WO2022256249A1 (en) 2021-06-02 2022-12-08 May Mobility, Inc. Method and system for remote assistance of an autonomous agent
CN115790619A (zh) * 2021-09-10 2023-03-14 罗伯特·博世有限公司 用于基于传感器可视性处理对象检测结果的处理系统、单元和方法
US11972614B2 (en) * 2021-11-09 2024-04-30 Zoox, Inc. Machine-learned architecture for efficient object attribute and/or intention classification
WO2023102098A1 (en) 2021-12-01 2023-06-08 May Mobility, Inc. Method and system for impact-based operation of an autonomous agent
US12296849B2 (en) 2021-12-02 2025-05-13 May Mobility, Inc. Method and system for feasibility-based operation of an autonomous agent
US12154346B2 (en) * 2021-12-17 2024-11-26 Gm Cruise Holdings Llc Estimating object uncertainty using a pre-non-maximum suppression ensemble
CN114359231B (zh) * 2022-01-06 2024-08-06 腾讯科技(深圳)有限公司 一种停车位的检测方法、装置、设备及存储介质
DE102022200139A1 (de) * 2022-01-10 2023-07-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Optimierung der Umfeldwahrnehmung für ein Fahrunterstützungssystem mittels zusätzlicher Referenzsensorik
CN114119970B (zh) * 2022-01-29 2022-05-03 中科视语(北京)科技有限公司 目标跟踪方法及装置
JP7851524B2 (ja) 2022-02-14 2026-04-27 メイ モビリティー,インコーポレイテッド 自律エージェントの条件付き動作のための方法及びシステム
CN114187533B (zh) * 2022-02-15 2022-05-03 西南交通大学 一种基于随机森林时序分类的GB-InSAR大气改正方法
US20230281824A1 (en) * 2022-03-07 2023-09-07 Waymo Llc Generating panoptic segmentation labels
US12481695B2 (en) * 2022-04-12 2025-11-25 Dell Products L.P. Artificial intelligence-based techniques for automated visual data searching using edge devices
CN114972805A (zh) * 2022-05-07 2022-08-30 杭州像素元科技有限公司 一种基于无锚的联合检测和嵌入的多目标跟踪方法
US20230373092A1 (en) * 2022-05-23 2023-11-23 Infineon Technologies Ag Detection and Tracking of Humans using Sensor Fusion to Optimize Human to Robot Collaboration in Industry
US12578469B1 (en) * 2022-06-30 2026-03-17 Zoox, Inc. Dynamic object auto-labeling
US20240017745A1 (en) * 2022-07-14 2024-01-18 Nvidia Corporation Trajectory generation
US12253607B1 (en) 2022-08-31 2025-03-18 Zoox, Inc. Mirror object detection based on clustering of sensor data
JP7849255B2 (ja) * 2022-09-07 2026-04-21 株式会社Soken 追跡装置
US12240497B1 (en) 2022-09-21 2025-03-04 Zoox, Inc. Determining intention of bicycles and other person-wide vehicles
JP2026500243A (ja) 2022-12-13 2026-01-06 メイ モビリティー,インコーポレイテッド 自律車両が遭遇し得るリスクを評価し軽減するための方法およびシステム
US20240265298A1 (en) * 2023-02-07 2024-08-08 Motional Ad Llc Conflict analysis between occupancy grids and semantic segmentation maps
US12223677B1 (en) * 2023-07-18 2025-02-11 Aurora Operations, Inc. Map-anchored object detection
KR102925170B1 (ko) * 2023-09-13 2026-02-06 주식회사 신세계아이앤씨 라이다 센서와 카메라를 이용한 객체 추적 방법 및 그 장치
WO2025090200A1 (en) * 2023-10-24 2025-05-01 Qualcomm Incorporated Dynamic occupancy grid architecture
US12600385B1 (en) * 2023-10-31 2026-04-14 Zoox, Inc. Machine-learned model architecture for occluded object spawning, track generation, and/or trajectory prediction
US12559138B2 (en) * 2023-11-21 2026-02-24 Zoox, Inc. Machine-learned model architecture for diverse object path prediction
US12515698B2 (en) 2023-11-28 2026-01-06 Zoox, Inc. Refinement training for machine-learned vehicle control model
US12535780B1 (en) * 2024-01-25 2026-01-27 Zoox, Inc. Efficient relative position-aware attention for transformer-based machine-learned models
CN120294733B (zh) * 2025-06-11 2025-08-08 长沙莫之比智能科技有限公司 基于cfar和孤立森林融合的雷达一维距离像多目标检测方法

Family Cites Families (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2921362B1 (en) 2014-03-18 2020-08-12 Volvo Car Corporation Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving
JP6384167B2 (ja) 2014-07-17 2018-09-05 日本電気株式会社 移動体追跡装置及び移動体追跡方法、並びにコンピュータ・プログラム
US10229329B2 (en) 2016-11-08 2019-03-12 Dedrone Holdings, Inc. Systems, methods, apparatuses, and devices for identifying, tracking, and managing unmanned aerial vehicles
US11543513B2 (en) 2015-09-30 2023-01-03 Sony Corporation Information processing apparatus, information processing method and program
US20190174207A1 (en) * 2016-05-09 2019-06-06 StrongForce IoT Portfolio 2016, LLC Methods and systems for the industrial internet of things
JP6663822B2 (ja) * 2016-08-08 2020-03-13 日立オートモティブシステムズ株式会社 自動運転装置
US10611379B2 (en) * 2016-08-16 2020-04-07 Toyota Jidosha Kabushiki Kaisha Integrative cognition of driver behavior
EP3285230B1 (en) 2016-08-19 2021-04-07 Veoneer Sweden AB Enhanced object detection and motion estimation for a vehicle environment detection system
US10220857B2 (en) 2017-02-23 2019-03-05 Uber Technologies, Inc. Vehicle control system
US10318822B2 (en) 2017-04-06 2019-06-11 GM Global Technology Operations LLC Object tracking
US11410673B2 (en) 2017-05-03 2022-08-09 Soltare Inc. Audio processing for vehicle sensory systems
US10395144B2 (en) 2017-07-24 2019-08-27 GM Global Technology Operations LLC Deeply integrated fusion architecture for automated driving systems
US10657811B2 (en) 2017-10-04 2020-05-19 Toyota Motor Engineering & Manufacturing North America, Inc. Travel lane identification without road curvature data
US10503172B2 (en) 2017-10-18 2019-12-10 Luminar Technologies, Inc. Controlling an autonomous vehicle based on independent driving decisions
US11475351B2 (en) * 2017-11-15 2022-10-18 Uatc, Llc Systems and methods for object detection, tracking, and motion prediction
JP6917878B2 (ja) 2017-12-18 2021-08-11 日立Astemo株式会社 移動体挙動予測装置
US10836379B2 (en) * 2018-03-23 2020-11-17 Sf Motors, Inc. Multi-network-based path generation for vehicle parking
US10414395B1 (en) 2018-04-06 2019-09-17 Zoox, Inc. Feature-based prediction
US20190310651A1 (en) 2018-04-10 2019-10-10 Uber Technologies, Inc. Object Detection and Determination of Motion Information Using Curve-Fitting in Autonomous Vehicle Applications
US10909377B2 (en) 2018-04-18 2021-02-02 Baidu Usa Llc Tracking objects with multiple cues
US10649459B2 (en) 2018-04-26 2020-05-12 Zoox, Inc. Data segmentation using masks
US11138745B2 (en) * 2018-04-30 2021-10-05 Uatc, Llc Object association for autonomous vehicles
US10726567B2 (en) 2018-05-03 2020-07-28 Zoox, Inc. Associating LIDAR data and image data
US11164016B2 (en) 2018-05-17 2021-11-02 Uatc, Llc Object detection and property determination for autonomous vehicles
US10691130B2 (en) 2018-06-06 2020-06-23 Uatc, Llc Gridlock solver for motion planning system of an autonomous vehicle
US10817740B2 (en) 2018-06-20 2020-10-27 Zoox, Inc. Instance segmentation inferred from machine learning model output
US10936922B2 (en) 2018-06-20 2021-03-02 Zoox, Inc. Machine learning techniques
US11514293B2 (en) 2018-09-11 2022-11-29 Nvidia Corporation Future object trajectory predictions for autonomous machine applications
US11217012B2 (en) * 2018-11-16 2022-01-04 Uatc, Llc System and method for identifying travel way features for autonomous vehicle motion control
US10814870B2 (en) * 2018-12-04 2020-10-27 GM Global Technology Operations LLC Multi-headed recurrent neural network (RNN) for multi-class trajectory predictions
US11630197B2 (en) 2019-01-04 2023-04-18 Qualcomm Incorporated Determining a motion state of a target object
CN109740742A (zh) * 2019-01-14 2019-05-10 哈尔滨工程大学 一种基于lstm神经网络的目标跟踪方法
US10919543B2 (en) * 2019-01-30 2021-02-16 StradVision, Inc. Learning method and learning device for determining whether to switch mode of vehicle from manual driving mode to autonomous driving mode by performing trajectory-based behavior analysis on recent driving route
US10482584B1 (en) * 2019-01-31 2019-11-19 StradVision, Inc. Learning method and learning device for removing jittering on video acquired through shaking camera by using a plurality of neural networks for fault tolerance and fluctuation robustness in extreme situations, and testing method and testing device using the same
US10825188B1 (en) * 2019-03-08 2020-11-03 Zoox, Inc. Detector-tracker architecture
US11062454B1 (en) 2019-04-16 2021-07-13 Zoox, Inc. Multi-modal sensor data association architecture
US11231481B1 (en) 2019-05-08 2022-01-25 Zoox, Inc. Radar false negative analysis
US11275173B2 (en) 2019-05-20 2022-03-15 Zoox, Inc. Yaw rate from radar data
JP7181997B2 (ja) * 2019-05-23 2022-12-01 日立Astemo株式会社 車両制御システム及び車両制御方法
US11500385B2 (en) * 2019-09-30 2022-11-15 Zoox, Inc. Collision avoidance perception system
US11726492B2 (en) * 2019-10-02 2023-08-15 Zoox, Inc. Collision avoidance perception system
US11994866B2 (en) 2019-10-02 2024-05-28 Zoox, Inc. Collision avoidance perception system
US11614742B2 (en) 2019-11-27 2023-03-28 Zoox, Inc. Height estimation using sensor data
US11663726B2 (en) * 2020-01-31 2023-05-30 Zoox, Inc. Object velocity and/or yaw rate detection and tracking
US11570638B2 (en) * 2020-06-26 2023-01-31 Intel Corporation Automated network control systems that adapt network configurations based on the local network environment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115598729A (zh) * 2022-11-09 2023-01-13 北京有竹居网络技术有限公司(Cn) 在物理环境中检测对象的方法、装置、设备和存储介质

Also Published As

Publication number Publication date
JP7662628B2 (ja) 2025-04-15
JP2022554184A (ja) 2022-12-28
EP4048568A1 (en) 2022-08-31
WO2021081459A1 (en) 2021-04-29
EP4048568A4 (en) 2023-11-29
US12012127B2 (en) 2024-06-18
US20210181758A1 (en) 2021-06-17

Similar Documents

Publication Publication Date Title
JP7662628B2 (ja) オブジェクトの検出及び追跡
JP7682190B2 (ja) オブジェクト速度および/またはヨーレート検出およびトラッキング
EP4107042B1 (en) Combined track confidence and classification model
US12394064B2 (en) Tracking objects using sensor data segmentations and/or representations
US20230051486A1 (en) Unstructured vehicle path planner
US11787438B2 (en) Collaborative vehicle path generation
JP7763165B2 (ja) 衝突回避知覚システム
US11010907B1 (en) Bounding box selection
US10936902B1 (en) Training bounding box selection
US20240310852A1 (en) Collision avoidance perception system
US11500385B2 (en) Collision avoidance perception system
EP4037946B1 (en) Complex ground profile estimation
EP4065933B1 (en) Correction of sensor data alignment and environment mapping
US11628855B1 (en) Object velocity detection from multi-modal sensor data
CN115485177A (zh) 雷达跟踪的对象速度和/或偏航

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination