CN118354949A - 基于中心的检测和跟踪 - Google Patents

基于中心的检测和跟踪 Download PDF

Info

Publication number
CN118354949A
CN118354949A CN202280079083.0A CN202280079083A CN118354949A CN 118354949 A CN118354949 A CN 118354949A CN 202280079083 A CN202280079083 A CN 202280079083A CN 118354949 A CN118354949 A CN 118354949A
Authority
CN
China
Prior art keywords
unimodal
determining
value
data
detection box
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
CN202280079083.0A
Other languages
English (en)
Chinese (zh)
Inventor
Q·宋
B·I·兹维贝尔
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 CN118354949A publication Critical patent/CN118354949A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/0464—Convolutional networks [CNN, ConvNet]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/09—Supervised learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; 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
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Multimedia (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Databases & Information Systems (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Computational Linguistics (AREA)
  • Biophysics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN202280079083.0A 2021-11-30 2022-11-21 基于中心的检测和跟踪 Pending CN118354949A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US17/537,920 US12080074B2 (en) 2021-11-30 2021-11-30 Center-based detection and tracking
US17/537,920 2021-11-30
PCT/US2022/080211 WO2023102327A1 (en) 2021-11-30 2022-11-21 Center-based detection and tracking

Publications (1)

Publication Number Publication Date
CN118354949A true CN118354949A (zh) 2024-07-16

Family

ID=86500484

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280079083.0A Pending CN118354949A (zh) 2021-11-30 2022-11-21 基于中心的检测和跟踪

Country Status (5)

Country Link
US (2) US12080074B2 (https=)
EP (1) EP4440898A4 (https=)
JP (1) JP2024546462A (https=)
CN (1) CN118354949A (https=)
WO (1) WO2023102327A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11195418B1 (en) * 2018-10-04 2021-12-07 Zoox, Inc. Trajectory prediction on top-down scenes and associated model
US12033346B2 (en) * 2022-02-01 2024-07-09 Zoox, Inc. Distance representation and encoding
KR20230146878A (ko) * 2022-04-13 2023-10-20 현대자동차주식회사 객체 검출 장치 및 방법
CN116844241B (zh) * 2023-08-30 2024-01-16 武汉大水云科技有限公司 基于着色的红外视频行为识别方法、系统和电子设备

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101663574B1 (ko) 2014-12-01 2016-10-07 계명대학교 산학협력단 야간 환경에서의 운전자 보조 시스템을 위한 위험 보행자 검출 방법 및 시스템
US10733482B1 (en) * 2017-03-08 2020-08-04 Zoox, Inc. Object height estimation from monocular images
WO2019136479A1 (en) * 2018-01-08 2019-07-11 The Regents On The University Of California Surround vehicle tracking and motion prediction
US10997433B2 (en) * 2018-02-27 2021-05-04 Nvidia Corporation Real-time detection of lanes and boundaries by autonomous vehicles
WO2019246250A1 (en) 2018-06-20 2019-12-26 Zoox, Inc. Instance segmentation inferred from machine-learning model output
US11215997B2 (en) * 2018-11-30 2022-01-04 Zoox, Inc. Probabilistic risk assessment for trajectory evaluation
AU2019200976A1 (en) * 2019-02-12 2020-08-27 Canon Kabushiki Kaisha Method, system and apparatus for generating training samples for matching objects in a sequence of images
EP3703008A1 (en) * 2019-02-26 2020-09-02 Zenuity AB Object detection and 3d box fitting
US11634162B2 (en) * 2019-08-16 2023-04-25 Uatc, Llc. Full uncertainty for motion planning in autonomous vehicles
US11624835B2 (en) * 2019-09-06 2023-04-11 Ouster, Inc. Processing of LIDAR images
US11288507B2 (en) 2019-09-27 2022-03-29 Sony Corporation Object detection in image based on stochastic optimization
US11885907B2 (en) * 2019-11-21 2024-01-30 Nvidia Corporation Deep neural network for detecting obstacle instances using radar sensors in autonomous machine applications
US11967161B2 (en) * 2020-06-26 2024-04-23 Amazon Technologies, Inc. Systems and methods of obstacle detection for automated delivery apparatus
US11527084B2 (en) * 2020-07-10 2022-12-13 Huawei Technologies Co., Ltd. Method and system for generating a bird's eye view bounding box associated with an object
CN112949614B (zh) 2021-04-29 2021-09-10 成都市威虎科技有限公司 一种自动分配候选区域的人脸检测方法及装置和电子设备
US11989891B2 (en) * 2021-08-06 2024-05-21 Beijing Qingzhouzhihang Technology Co., LTD. System and method for 3D multi-object tracking in LiDAR point clouds

Also Published As

Publication number Publication date
US20230169777A1 (en) 2023-06-01
JP2024546462A (ja) 2024-12-24
US20250005935A1 (en) 2025-01-02
EP4440898A4 (en) 2025-11-12
US12080074B2 (en) 2024-09-03
WO2023102327A1 (en) 2023-06-08
EP4440898A1 (en) 2024-10-09

Similar Documents

Publication Publication Date Title
JP7628948B2 (ja) トップダウンシーンに関する軌道予測
JP7350013B2 (ja) マスクを使用したデータセグメンテーション
JP7527277B2 (ja) レーダ空間推定
US11021148B2 (en) Pedestrian prediction based on attributes
US12339658B2 (en) Generating a scenario using a variable autoencoder conditioned with a diffusion model
US12475725B2 (en) Three-dimensional point clouds based on images and depth data
US12056934B2 (en) Three-dimensional object detection based on image data
US20200174481A1 (en) Probabilistic risk assessment for trajectory evaluation
JP2022539245A (ja) アクションデータに基づくトップダウンシーンの予測
CN114072841A (zh) 根据图像使深度精准化
US20210157321A1 (en) Height estimation using sensor data
US20240212360A1 (en) Generating object data using a diffusion model
CN119816793A (zh) 基于决策树的轨迹预测
US12060076B2 (en) Determining inputs for perception system
US12353979B2 (en) Generating object representations using a variable autoencoder
US12555043B2 (en) Training a variable autoencoder using a diffusion model
CN114555446A (zh) 复杂地面轮廓估计
CN117980212A (zh) 基于优化的规划系统
US11543263B1 (en) Map distortion determination
US12080074B2 (en) Center-based detection and tracking
US12195040B1 (en) Graph generation by a generative adversarial network
CN117545674A (zh) 用于识别路缘的技术
US12033346B2 (en) Distance representation and encoding
CN121285494A (zh) 包括学习轨迹的车辆轨迹树结构
US12175764B1 (en) Learned deconvolutional upsampling decoding layer

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