EP4078534A4 - Maps comprising covariances in multi-resolution voxels - Google Patents

Maps comprising covariances in multi-resolution voxels Download PDF

Info

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
German (de)
French (fr)
Other versions
EP4078534A1 (en
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 US16/722,771 external-priority patent/US11430087B2/en
Priority claimed from US16/722,598 external-priority patent/US11288861B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of EP4078534A1 publication Critical patent/EP4078534A1/en
Publication of EP4078534A4 publication Critical patent/EP4078534A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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; 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
    • 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; CALCULATING OR 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; 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
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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 Maps comprising covariances in multi-resolution voxels Pending EP4078534A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/722,771 US11430087B2 (en) 2019-12-20 2019-12-20 Using maps comprising covariances in multi-resolution voxels
US16/722,598 US11288861B2 (en) 2019-12-20 2019-12-20 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 (en) 2022-10-26
EP4078534A4 true EP4078534A4 (en) 2024-01-03

Family

ID=76478284

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20901617.9A Pending EP4078534A4 (en) 2019-12-20 2020-12-15 Maps comprising covariances in multi-resolution voxels

Country Status (4)

Country Link
EP (1) EP4078534A4 (en)
JP (1) JP2023508276A (en)
CN (1) CN114868154A (en)
WO (1) WO2021127692A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114821505B (en) * 2022-05-09 2024-09-06 合众新能源汽车股份有限公司 Multi-view 3D target detection method, memory and system based on aerial view
US20240094029A1 (en) * 2022-05-31 2024-03-21 Zoox, Inc. System and method for generating multi-resolution voxel spaces

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018221453A1 (en) * 2017-05-31 2018-12-06 パイオニア株式会社 Output device, control method, program, and storage medium
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 (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US20190179317A1 (en) * 2017-12-13 2019-06-13 Luminar Technologies, Inc. Controlling vehicle sensors using an attention model

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018221453A1 (en) * 2017-05-31 2018-12-06 パイオニア株式会社 Output device, control method, program, and storage medium
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 (en) 2022-10-26
CN114868154A (en) 2022-08-05
JP2023508276A (en) 2023-03-02
WO2021127692A1 (en) 2021-06-24

Similar Documents

Publication Publication Date Title
EP3867872A4 (en) Machine learning techniques for identifying clouds and cloud shadows in satellite imagery
EP3861387A4 (en) Rendering location specific virtual content in any location
EP3457343A4 (en) Virtual currency transaction storage system and usage method thereof
EP3289441A4 (en) Stripe mapping in memory
AU2019378667A1 (en) Performing map iterations in blockchain-based system
EP3776250A4 (en) Performing map iterations in blockchain-based system
EP3606910A4 (en) Triazole compound and use thereof in agriculture
EP3549096A4 (en) Systems and methods for enhancing edges in images
EP3265324A4 (en) Cards with special texture and color
EP3646058A4 (en) Systems and methods for improvements in scanning and mapping
EP3607386A4 (en) Multiview backlight, mode-switchable backlight, and 2d/3d mode-switchable display
EP3616401A4 (en) Display pacing in multi-head mounted display virtual reality configurations
EP4078534A4 (en) Maps comprising covariances in multi-resolution voxels
EP3803777A4 (en) Compiler-assisted techniques for memory use reduction in graphics pipeline
EP3973140A4 (en) Geologic model and property visualization system
EP3853899A4 (en) Staircase formation in three-dimensional memory device
GB201715476D0 (en) Performimg convolution operations in graphics texture mapping units
WO2014065978A3 (en) Vertex order in a tessellation unit
EP3612857A4 (en) A high-definition map acquisition system
EP3794163A4 (en) Near neutral ph pickle on multi-metals
GB201917901D0 (en) Graphics texture mapping
EP3658666A4 (en) Establishing topographic organization in three-dimensional tissue culture
EP3700563A4 (en) Dermal applicator for use in cancer photoimmunotherapy
WO2012108946A3 (en) Micropolygon splatting
EP4038563A4 (en) Multiple settlement options in payment system

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220527

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20231204

RIC1 Information provided on ipc code assigned before grant

Ipc: G08G 1/017 20060101ALI20231128BHEP

Ipc: G08G 1/14 20060101ALI20231128BHEP

Ipc: G06T 17/00 20060101ALI20231128BHEP

Ipc: G06V 20/56 20220101ALI20231128BHEP

Ipc: G06T 7/70 20170101ALI20231128BHEP

Ipc: G06T 7/30 20170101ALI20231128BHEP

Ipc: G08G 1/04 20060101ALI20231128BHEP

Ipc: G06T 17/10 20060101AFI20231128BHEP