EP4078534A4 - Abbildungen mit kovarianzen in mehrauflösungsvoxeln - Google Patents

Abbildungen mit kovarianzen in mehrauflösungsvoxeln Download PDF

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Publication number
EP4078534A4
EP4078534A4 EP20901617.9A EP20901617A EP4078534A4 EP 4078534 A4 EP4078534 A4 EP 4078534A4 EP 20901617 A EP20901617 A EP 20901617A EP 4078534 A4 EP4078534 A4 EP 4078534A4
Authority
EP
European Patent Office
Prior art keywords
covariances
maps
resolution voxels
voxels
resolution
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
EP20901617.9A
Other languages
English (en)
French (fr)
Other versions
EP4078534A1 (de
Inventor
Michael Carsten BOSSE
Patrick BLAES
Derek Adams
Brice Rebsamen
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
Priority claimed from US16/722,598 external-priority patent/US11288861B2/en
Priority claimed from US16/722,771 external-priority patent/US11430087B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of EP4078534A1 publication Critical patent/EP4078534A1/de
Publication of EP4078534A4 publication Critical patent/EP4078534A4/de
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • 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
    • 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
    • G06V10/77—Processing 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
    • G06V10/7715—Feature extraction, e.g. by transforming the feature space, e.g. multi-dimensional scaling [MDS]; Mappings, e.g. subspace methods
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/36—Level of detail
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Computer Graphics (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Navigation (AREA)
  • Image Generation (AREA)
  • Traffic Control Systems (AREA)
EP20901617.9A 2019-12-20 2020-12-15 Abbildungen mit kovarianzen in mehrauflösungsvoxeln Pending EP4078534A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/722,598 US11288861B2 (en) 2019-12-20 2019-12-20 Maps comprising covariances in multi-resolution voxels
US16/722,771 US11430087B2 (en) 2019-12-20 2019-12-20 Using maps comprising covariances in multi-resolution voxels
PCT/US2020/070910 WO2021127692A1 (en) 2019-12-20 2020-12-15 Maps comprising covariances in multi-resolution voxels

Publications (2)

Publication Number Publication Date
EP4078534A1 EP4078534A1 (de) 2022-10-26
EP4078534A4 true EP4078534A4 (de) 2024-01-03

Family

ID=76478284

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20901617.9A Pending EP4078534A4 (de) 2019-12-20 2020-12-15 Abbildungen mit kovarianzen in mehrauflösungsvoxeln

Country Status (4)

Country Link
EP (1) EP4078534A4 (de)
JP (1) JP7662645B2 (de)
CN (1) CN114868154A (de)
WO (1) WO2021127692A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114821505B (zh) * 2022-05-09 2024-09-06 合众新能源汽车股份有限公司 基于鸟瞰图的多视角3d目标检测方法、存储器及系统
US12241756B2 (en) * 2022-05-31 2025-03-04 Zoox, Inc. System and method for generating multi-resolution voxel spaces
CN116863060B (zh) * 2023-07-18 2025-05-16 西北大学 一种基于多分辨率网格的目标红外计算方法
CN120686278B (zh) * 2025-07-15 2026-03-06 北京能创科技有限公司 一种机器人激光雷达里程计方法、系统、装置
CN121053309B (zh) * 2025-11-04 2026-03-20 先临三维科技股份有限公司 三维网格构建方法、电子设备、扫描设备及存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018221453A1 (ja) * 2017-05-31 2018-12-06 パイオニア株式会社 出力装置、制御方法、プログラム及び記憶媒体
US20190139403A1 (en) * 2018-12-28 2019-05-09 S M Iftekharul Alam Crowdsourced detection, identification and sharing of hazardous road objects in hd maps
US20190162856A1 (en) * 2017-11-29 2019-05-30 VoxelMaps Inc. Method and system for positioning of autonomously operating entities

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012176249A1 (ja) * 2011-06-21 2012-12-27 国立大学法人奈良先端科学技術大学院大学 自己位置推定装置、自己位置推定方法、自己位置推定プログラム、及び移動体
US11175132B2 (en) * 2017-08-11 2021-11-16 Zoox, Inc. Sensor perturbation
US10983199B2 (en) * 2017-08-11 2021-04-20 Zoox, Inc. Vehicle sensor calibration and localization
US10473788B2 (en) * 2017-12-13 2019-11-12 Luminar Technologies, Inc. Adjusting area of focus of vehicle sensors by controlling spatial distributions of scan lines
JP6973107B2 (ja) * 2018-01-23 2021-11-24 トヨタ自動車株式会社 自己位置推定装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018221453A1 (ja) * 2017-05-31 2018-12-06 パイオニア株式会社 出力装置、制御方法、プログラム及び記憶媒体
US20190162856A1 (en) * 2017-11-29 2019-05-30 VoxelMaps Inc. Method and system for positioning of autonomously operating entities
US20190139403A1 (en) * 2018-12-28 2019-05-09 S M Iftekharul Alam Crowdsourced detection, identification and sharing of hazardous road objects in hd maps

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
CHEN JIAQI ET AL: "3D LiDAR-Based Localization Methods: An Overview : Proceedings of 2022 International Conference on Guidance, Navigation and Control", 1 January 2023 (2023-01-01), pages 1624 - 1636, XP009549959, ISBN: 978-981-19-6613-2, Retrieved from the Internet <URL:https://link.springer.com/10.1007/978-981-19-6613-2_159> [retrieved on 20230131], DOI: 10.1007/978-981-19-6613-2_159 *
MARTIN MAGNUSSON ET AL: "Scan registration for autonomous mining vehicles using 3D-NDT", JOURNAL OF FIELD ROBOTICS, vol. 24, no. 10, 1 January 2007 (2007-01-01), US, pages 803 - 827, XP055646213, ISSN: 1556-4959, DOI: 10.1002/rob.20204 *
SAARINEN JARI ET AL: "Normal Distributions Transform Occupancy Maps: Application to large-scale online 3D mapping", 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); 6-10 MAY 2013; KARLSRUHE, GERMANY, IEEE, US, 6 May 2013 (2013-05-06), pages 2233 - 2238, XP032506447, ISSN: 1050-4729, ISBN: 978-1-4673-5641-1, [retrieved on 20131013], DOI: 10.1109/ICRA.2013.6630878 *
See also references of WO2021127692A1 *

Also Published As

Publication number Publication date
EP4078534A1 (de) 2022-10-26
WO2021127692A1 (en) 2021-06-24
JP2023508276A (ja) 2023-03-02
JP7662645B2 (ja) 2025-04-15
CN114868154A (zh) 2022-08-05

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