JP2024546462A - 中心ベースの検出と追跡 - Google Patents

中心ベースの検出と追跡 Download PDF

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JP2024546462A
JP2024546462A JP2024532274A JP2024532274A JP2024546462A JP 2024546462 A JP2024546462 A JP 2024546462A JP 2024532274 A JP2024532274 A JP 2024532274A JP 2024532274 A JP2024532274 A JP 2024532274A JP 2024546462 A JP2024546462 A JP 2024546462A
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unimodal
determining
value
data
vehicle
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JP2024546462A5 (https=
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ソング キアン
イサーク ツヴィーベル ベンジャミン
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ズークス インコーポレイテッド
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    • 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

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  • 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)
JP2024532274A 2021-11-30 2022-11-21 中心ベースの検出と追跡 Pending JP2024546462A (ja)

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 (2)

Publication Number Publication Date
JP2024546462A true JP2024546462A (ja) 2024-12-24
JP2024546462A5 JP2024546462A5 (https=) 2025-11-25

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JP2024532274A Pending JP2024546462A (ja) 2021-11-30 2022-11-21 中心ベースの検出と追跡

Country Status (5)

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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
CN118354949A (zh) 2024-07-16
US20230169777A1 (en) 2023-06-01
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

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