公开(公告)号：US08755967B1

公开(公告)日：2014-06-17

申请号：US13427959

申请日：2012-03-23

Applicant: David I. Ferguson ,  Jiajun Zhu

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G01C21/26 ,  G01S17/89

CPC classification number: G05D1/00 ,  B60W10/20 ,  B60W2710/20 ,  G01S17/89 ,  G05D1/021

Abstract: Aspects of the disclosure relate generally to detecting the edges of lane lines. Specifically, a vehicle driving on a roadway may use a laser to collect data for the roadway. A computer may process the data received from the laser in order to extract the points which potentially reside on two lane lines defining a lane. The extracted points are used by the computer to determine a model of a left lane edge and a right lane edge for the lane. The model may be used to estimate a centerline between the two lane lines. All or some of the model and centerline estimates, may be used to maneuver a vehicle in real time and also to update or generate map information used to maneuver vehicles.

Abstract translation: 本公开的方面通常涉及检测车道线的边缘。 特别地，在道路上行驶的车辆可以使用激光来收集道路的数据。 计算机可以处理从激光器接收的数据，以便提取可能驻留在限定车道的两条车道线上的点。 提取的点被计算机用于确定车道的左车道边缘和右车道边缘的模型。 该模型可用于估计两条车道线之间的中心线。 所有或一些模型和中心线估计可用于实时地操纵车辆，并且还可以更新或生成用于操纵车辆的地图信息。

公开(公告)号：US08700251B1

公开(公告)日：2014-04-15

申请号：US13446518

申请日：2012-04-13

Applicant: Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov

IPC: G05D1/02

CPC classification number: B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

Abstract translation: 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。

公开(公告)号：US09014903B1

公开(公告)日：2015-04-21

申请号：US13477871

申请日：2012-05-22

Applicant: Jiajun Zhu ,  Dmitri A. Dolgov ,  Nathaniel Fairfield

Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Nathaniel Fairfield

IPC: G05D1/00 ,  G05D3/00 ,  G01C22/00 ,  G05D1/02 ,  G06G7/78 ,  G08G1/16 ,  G01S13/88 ,  G06K9/00 ,  G01C21/34

CPC classification number: G01C21/3446 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/875 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9342 ,  G01S2013/9346 ,  G05D1/0238 ,  G05D2201/0213

Abstract: An autonomous vehicle configured to determine the heading of an object-of-interest based on a point cloud. An example computer-implemented method involves: (a) receiving spatial-point data indicating a set of spatial points, each spatial point representing a point in three dimensions, where the set of spatial points corresponds to an object-of-interest; (b) determining, for each spatial point, an associated projected point, each projected point representing a point in two dimensions; (c) determining a set of line segments based on the determined projected points, where each respective line segment connects at least two determined projected points; (d) determining an orientation of at least one determined line segment from the set of line segments; and (e) determining a heading of the object-of-interest based on at least the determined orientation.

Abstract translation: 一种被配置为基于点云确定感兴趣对象的标题的自主车辆。 计算机实现的示例方法包括：（a）接收指示一组空间点的空间点数据，每个空间点表示三维点，其中该组空间点对应于感兴趣的对象; （b）为每个空间点确定相关联的投影点，每个投影点表示二维中的点; （c）基于所确定的投影点确定一组线段，其中每个相应线段连接至少两个确定的投影点; （d）从所述一组线段确定至少一个确定的线段的取向; 和（e）至少基于确定的方向来确定兴趣对象的标题。

公开(公告)号：US08874372B1

公开(公告)日：2014-10-28

申请号：US13440555

申请日：2012-04-05

Applicant: Jiajun Zhu ,  Michael Steven Montemerlo ,  Christopher Paul Urmson ,  Andrew Chatham

Inventor： Jiajun Zhu ,  Michael Steven Montemerlo ,  Christopher Paul Urmson ,  Andrew Chatham

IPC: G06K9/00

CPC classification number: G06K9/00805 ,  G01C21/26 ,  G08G1/09626 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775

Abstract: Aspects of the disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, objects detected in a vehicle's surroundings may be detected by the vehicle's various sensors and identified based on their relative location in a roadgraph. The roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include the boundaries of areas, including for example, crosswalks or bicycle lanes. In one example, an object detected in a location corresponding to a crosswalk area of the roadgraph may be identified as a person. In another example, an object detected in a location corresponding to a bicycle area of the roadgraph and identified as a bicycle. By identifying the type of object in this way, an autonomous vehicle may be better prepared to react to or simply avoid the object.

Abstract translation: 本公开的方面一般涉及安全和有效地使用自主车辆。 更具体地，可以由车辆的各种传感器检测在车辆周围检测到的物体，并且基于它们在路标图中的相对位置来识别。 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括区域的边界，包括例如人行横道或自行车道。 在一个示例中，在与路灯图的人行横道区域相对应的位置中检测到的对象可以被识别为人。 在另一示例中，在与路灯图的自行车区域相对应的位置中检测到的物体，并被识别为自行车。 通过以这种方式识别对象的类型，自主车辆可以更好地准备反应或者简单地避开物体。

公开(公告)号：US08781721B2

公开(公告)日：2014-07-15

申请号：US13489794

申请日：2012-06-06

Applicant: Jonathan Baldwin Dowdall ,  Jiajun Zhu

Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu

IPC: G08G1/16 ,  B60R21/00 ,  B60R21/013 ,  B60W30/08 ,  B60W30/095

CPC classification number: G08G1/166 ,  B60R21/00 ,  B60R21/013 ,  B60W30/08 ,  B60W30/095 ,  G06K9/00805

Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.

Abstract translation: 构造成以自主模式操作的车辆可以参与障碍物评估技术，其包括采用传感器系统来收集与多个障碍物相关的数据，从多个障碍物识别包括第一障碍物和第二障碍物的障碍物， 通过将针对第一障碍物收集的数据与针对第二障碍物收集的数据进行比较，并且响应于参与评估处理，确定第一障碍物和第二障碍物是否是两个单独的障碍物来进行评估过程。

公开(公告)号：US08630806B1

公开(公告)日：2014-01-14

申请号：US13277580

申请日：2011-10-20

Applicant: Jiajun Zhu

Inventor： Jiajun Zhu

IPC: G01C21/26

CPC classification number: G01C21/26 ,  B60W30/16 ,  B60W2420/42 ,  B60W2520/16 ,  B60W2550/142 ,  B60W2550/308 ,  G01S11/12 ,  G01S17/936 ,  G05D1/0251 ,  G05D2201/0213 ,  G06K9/00805 ,  G08G1/165 ,  G08G1/166 ,  G08G9/02

Abstract: A method is provided for processing an image in which only parts of the image that appear above a point on a horizon line are analyzed to identify an object. In one embodiment, the distance between the object and a vehicle is determined, and at least one of the speed and direction of the vehicle is changed when it is determined that the distance is less than the range of a sensor. The method for processing images is not limited to vehicular applications only and it may be used in all applications where computer vision is used to identify objects in an image.

Abstract translation: 提供了一种处理图像的方法，其中仅分析出现在水平线上的点上方的图像的一部分以识别对象。 在一个实施例中，确定物体与车辆之间的距离，并且当确定距离小于传感器的范围时，车辆的速度和方向中的至少一个被改变。 用于处理图像的方法不仅限于车辆应用，并且可以在计算机视觉用于识别图像中的对象的所有应用中使用。

公开(公告)号：US20090179895A1

公开(公告)日：2009-07-16

申请号：US12014513

申请日：2008-01-15

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T17/00

CPC classification number: G06T11/60 ,  G06F17/241 ,  G06F17/30241 ,  G06T7/75 ,  G06T19/00 ,  G06T19/20 ,  G06T2207/10028 ,  G06T2207/20101 ,  G06T2210/12 ,  G06T2219/004

Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.

Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上而实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。

公开(公告)号：US09454847B2

公开(公告)日：2016-09-27

申请号：US12391516

申请日：2009-02-24

Applicant: Jiajun Zhu

Inventor： Jiajun Zhu

IPC: G06F17/30 ,  G06T19/00 ,  G06T17/05 ,  G06T15/20

CPC classification number: G06T15/20 ,  G06F17/30241 ,  G06F17/30268 ,  G06T15/04 ,  G06T17/05 ,  G06T19/00 ,  G06T19/003 ,  G06T2200/04

Abstract: A system and method of displaying transitions between street level images is provided. In one aspect, the system and method creates a plurality of polygons that are both textured with images from a 2D street level image and associated with 3D positions, where the 3D positions correspond with the 3D positions of the objects contained in the image. These polygons, in turn, are rendered from different perspectives to convey the appearance of moving among the objects contained in the original image.

Abstract translation: 提供了一种在街道图像之间显示过渡的系统和方法。 在一个方面，系统和方法创建多个多边形，它们都与来自2D街道级图像的图像纹理化并与3D位置相关联，其中3D位置对应于包含在图像中的对象的3D位置。 反过来，这些多边形从不同的角度呈现出来，以传达在原始图像中包含的对象之间移动的外观。

公开(公告)号：US09122948B1

公开(公告)日：2015-09-01

申请号：US13200958

申请日：2011-10-05

Applicant: Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

Inventor： Jiajun Zhu ,  Christopher Paul Urmson ,  Dirk Haehnel ,  Nathaniel Fairfield ,  Russell Leigh Smith

IPC: G06K9/00 ,  G06K9/32

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

Abstract translation: 提供了一种用于优化由自主车辆使用以检测图像中的物体的一个或多个物体检测参数的方法和装置。 自主车辆可以使用一个或多个传感器捕获图像。 然后，自主车辆可以确定被检测物体的对象标签及其相应的对象标签参数。 捕获的图像和对象标签参数可以被传送到对象识别服务器。 对象识别服务器可以请求一个或多个审阅者识别所捕获的图像中的对象。 然后，对象识别服务器可以将审查者的对象的识别与自主车辆的对象识别进行比较。 取决于比较的结果，对象识别服务器可以推荐或执行一个或多个对象检测参数的优化。

公开(公告)号：US08963915B2

公开(公告)日：2015-02-24

申请号：US13605635

申请日：2012-09-06

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T19/00 ,  G06T15/00 ,  G06T15/06

CPC classification number: G06T19/003 ,  G06F3/04815 ,  G06T3/4038 ,  G06T15/06 ,  G06T17/00 ,  G06T19/00 ,  G06T2200/32

Abstract: The present invention relates to using image content to facilitate navigation in panoramic image data. In an embodiment, a computer-implemented method for navigating in panoramic image data includes: (1) determining an intersection of a ray and a virtual model, wherein the ray extends from a camera viewport of an image and the virtual model comprises a plurality of facade planes; (2) retrieving a panoramic image; (3) orienting the panoramic image to the intersection; and (4) displaying the oriented panoramic image.

Abstract translation: 本发明涉及使用图像内容以促进全景图像数据中的导航。 在一个实施例中，用于在全景图像数据中导航的计算机实现的方法包括：（1）确定射线和虚拟模型的交集，其中所述射线从图像的相机视口延伸，并且所述虚拟模型包括多个 立面飞机 （2）检索全景图像; （3）将全景图像定向到十字路口; 和（4）显示定向全景图像。