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公开(公告)号：US10649089B2
公开(公告)日：2020-05-12
申请号：US15411795
申请日：2017-01-20
Inventor： Yibing Liang , Bocong Liu , Zhuo Chen , Wei He , Chengliang Deng , Kaiwen Feng
IPC: G01S17/88 , G06F13/362 , G01S17/87 , G01S7/00 , G01S17/931 , G05D1/02
Abstract: The present application discloses a data acquisition method and apparatus for a driverless vehicle. The driverless vehicle is provided with a LIDAR sensor and a camera sensor, and the method of an embodiment comprises: acquiring a collection period of the LIDAR sensor as a first period; acquiring a start time of a current time window; executing following data processing steps: executing real-time acquiring and storing operations on data packets collected by the LIDAR sensor and the camera sensor after the start time of the current time window; and determining whether a following condition is met: the first period has elapsed from the start time of the current time window to a current time; setting the start time of the current time window to the current time in response to determining that the condition is met, and continuing executing the data processing steps. This embodiment realizes synchronized storage of data packets collected by the LIDAR sensor and data packets collected by the camera sensor in the driverless vehicle.
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公开(公告)号：US10345433B2
公开(公告)日：2019-07-09
申请号：US15410906
申请日：2017-01-20
Inventor： Wei He , Kaiwen Feng , Chengliang Deng , Yibing Liang , Bocong Liu , Zhuo Chen , Yu Ma
Abstract: The present application discloses a data acquiring method and apparatus applied to a driverless vehicle. A specific implementation of the method includes: selecting, from at least one laser radar of the driverless vehicle, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps: executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied; and setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. This implementation implements the alignment and storage of point cloud data packets collected by at least one laser radar of the driverless vehicle.
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公开(公告)号：US10268926B2
公开(公告)日：2019-04-23
申请号：US15410713
申请日：2017-01-19
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Yibing Liang , Yu Ma , Haifeng Wang
Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method in an embodiment comprises: presenting a to-be-labeled point cloud frame and a camera image formed by photographing an identical scene at an identical moment as the point cloud frame; determining, in response to an operation of selecting an object in the point cloud frame by a user, an area encompassing the selected object in the point cloud frame; projecting the area from the point cloud frame to the camera image, to obtain a projected area in the camera image; and adding a mark in the projected area, for labeling, by the user, the selected object in the point cloud frame according to the mark indicating an object in the camera image. This implementation can assist labeling personnel in rapidly and correctly labeling an object in a point cloud frame.
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公开(公告)号：US20180075666A1
公开(公告)日：2018-03-15
申请号：US15409667
申请日：2017-01-19
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Chengliang Deng , Yibing Liang , Yu Ma
CPC classification number: G06K9/00671 , G06K9/00711 , G06K9/00805 , G06K2209/40 , G06T19/00 , G06T2207/10028 , G06T2219/004
Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method of an embodiment comprises: recognizing an object in a to-be-labeled point cloud frame by using an obstacle recognition algorithm, to obtain a recognition result; presenting the recognition result as an initial labeling result of the point cloud frame; and updating the labeling result in response to a correction operation by a user on the labeling result. According to the embodiment, the speed and accuracy of point cloud data labeling are improved.
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公开(公告)号：US20180074756A1
公开(公告)日：2018-03-15
申请号：US15411604
申请日：2017-01-20
Inventor： Yibing Liang , Kaiwen Feng , Bocong Liu , Zhuo Chen , Yu Ma , Wei He
IPC: G06F3/06
CPC classification number: G06F3/0659 , B60W30/00 , G01S7/003 , G01S13/931 , G05B19/408 , G06F3/0604 , G06F3/0653 , G06F3/0656 , G06F3/067
Abstract: This disclosures discloses a method and apparatus for acquiring data in a robot operating system. A specific implementation of the method includes: monitoring in real time a data storage area of an information acquirer, the information acquirer configured to acquire location state data of a driverless vehicle; obtaining updated data if the updated data are present in the data storage area; and storing the updated data into a data buffer corresponding to the information acquirer. The implementation improves the robustness of the data.
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Patent Agency Ranking
公开(公告)号：US10817439B2
公开(公告)日：2020-10-27
申请号：US15410680
申请日：2017-01-19
Inventor： Liming Xia , Jingchao Feng , Quan Wang , Ning Qu , Wei He , Chengliang Deng , Kaiwen Feng , Zhuo Chen
IPC: G06F13/16 , G06F12/1072 , G06F15/167
Abstract: The present application discloses a method and an apparatus for transmitting a message. The method of an embodiment comprises: dividing a shared memory area allocated by an operating system into a plurality of memory blocks for storing messages having different priorities; dividing each memory block in the plurality of memory blocks into at least one memory unit having a successive serial number; determining, from the plurality of memory blocks according to a priority of a to-be-transmitted message, a target memory block for storing the to-be-transmitted message; and writing the to-be-transmitted message into a memory unit of the target memory block. This embodiment implements message transmission based on priorities of the messages, and improves the control security of an intelligent control system.
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公开(公告)号：US10609133B2
公开(公告)日：2020-03-31
申请号：US15410188
申请日：2017-01-19
Inventor： Haifeng Wang , Weide Zhang , Zhuo Chen , Wei He , Kaiwen Feng , Jingchao Feng
Abstract: The present application discloses a method and device for establishing communication connection. An embodiment of the method includes: selecting a predetermined number of servers from a server cluster to form a backup server cluster, the server cluster including at least one server adapted to implement a given service; obtaining communication information of each backup server in the backup server cluster, and selecting a backup server from the backup server cluster as a master server based on the communication information of the backup server; and sending the communication information of the master server to controlled equipment controlled by the server cluster to establish communication connection between the master server and the controlled equipment. The embodiment solves a problem of reliability raised when main server abnormally quits or restarts during the operation of a system.
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公开(公告)号：US10460172B2
公开(公告)日：2019-10-29
申请号：US15409667
申请日：2017-01-19
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Chengliang Deng , Yibing Liang , Yu Ma
Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method of an embodiment comprises: recognizing an object in a to-be-labeled point cloud frame by using an obstacle recognition algorithm, to obtain a recognition result; presenting the recognition result as an initial labeling result of the point cloud frame; and updating the labeling result in response to a correction operation by a user on the labeling result. According to the embodiment, the speed and accuracy of point cloud data labeling are improved.
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公开(公告)号：US10261724B2
公开(公告)日：2019-04-16
申请号：US15411604
申请日：2017-01-20
Inventor： Yibing Liang , Kaiwen Feng , Bocong Liu , Zhuo Chen , Yu Ma , Wei He
Abstract: This disclosures discloses a method and apparatus for acquiring data in a robot operating system. A specific implementation of the method includes: monitoring in real time a data storage area of an information acquirer, the information acquirer configured to acquire location state data of a driverless vehicle; obtaining updated data if the updated data are present in the data storage area; and storing the updated data into a data buffer corresponding to the information acquirer. The implementation improves the robustness of the data.
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公开(公告)号：US20180074176A1
公开(公告)日：2018-03-15
申请号：US15411927
申请日：2017-01-20
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Chengliang Deng , Yibing Liang , Haifeng Wang
IPC: G01S7/497
CPC classification number: G01S7/497 , G01S7/4808 , G01S17/42 , G01S17/89 , G01S17/936
Abstract: A motion compensation method and apparatus applicable to laser point cloud data includes acquiring laser point cloud data of a frame; using an acquisition time of a start point as a target time; interpolating coordinate transformation relations and an end laser point, to obtain coordinate transformation relations of other laser points, and transforming coordinates of the other laser points to the coordinates at the target time. During motion compensation on each frame of laser point cloud data, the coordinate transformation relations corresponding to only the start and end laser points are obtained, and the coordinate transformation relations corresponding to the two points are interpolated to obtain transformation relations corresponding to other laser points, thus performing motion compensation. Therefore, the processing speed is improved and meets high real-time requirements on systems such as autopilot control systems.
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