公开(公告)号：US12026954B2

公开(公告)日：2024-07-02

申请号：US17452552

申请日：2021-10-27

Applicant: QUALCOMM Incorporated

Inventor： Jayakrishnan Unnikrishnan ,  Yoga Y Nadaraajan ,  Avdhut Joshi

IPC: G06N3/02 ,  G06V20/56 ,  G06V20/58

CPC classification number: G06V20/58 ,  G06N3/02 ,  G06V20/588

Abstract: Techniques and systems are provided for determining static occupancy. For example, an apparatus can be configured to determine one or more pixels associated with one or more static objects depicted in one or more images of a three-dimensional space. The apparatus can be configured to obtain a point map including a plurality of map points, the plurality of map points corresponding to a portion of the three-dimensional space. The apparatus can be configured to determine, based on the point map and the one or more pixels associated with the one or more static objects, a probability of occupancy by the one or more static objects in the portion of the three-dimensional space. The apparatus can be configured to combine information across multiple images of the three-dimensional space, and can determine probabilities of occupancy for all cells in a static occupancy grid that is associated with the three-dimensional space.

公开(公告)号：US20200033442A1

公开(公告)日：2020-01-30

申请号：US16512267

申请日：2019-07-15

Applicant: QUALCOMM Incorporated

Inventor： Kapil Gulati ,  Junyi Li ,  Sundar Subramanian ,  Jayakrishnan Unnikrishnan

IPC: G01S7/292 ,  G01S13/36 ,  G01S7/288 ,  H04J13/00

Abstract: A method and apparatus for selecting frequency modulated continuous wave waveform parameters for multiple radar coexistence by a user equipment is described. The user equipment may transmit a radar waveform consisting of a number of chirps, with each chirp having a same duration. The user equipment may vary waveform parameters of the radar waveform for at least a subset of the number of chirp, where the waveform parameters may be chosen from a codebook comprising at least one codeword of parameters. Reflected radar waveforms are received and processed where the processing includes applying a fast time discrete Fourier transform to reflected radar waveforms to produce a one dimension peak in a time delay dimension for each reflected waveform; and applying a slow time discrete Fourier transform to the reflected radar waveforms, where peaks for the reflected waveforms are added.

公开(公告)号：US20190293748A1

公开(公告)日：2019-09-26

申请号：US16354018

申请日：2019-03-14

Applicant: QUALCOMM Incorporated

Inventor： Kapil Gulati ,  Junyi Li ,  Sundar Subramanian ,  Jayakrishnan Unnikrishnan

IPC: G01S7/02 ,  H04W74/00 ,  G01S7/40

Abstract: Methods, systems, and devices for wireless communications are described. In some systems, radio signals may reach a receiving antenna at a user equipment by two or more paths, which can cause interference (e.g., destructive multipath interference, constructive multipath interference, etc.). To reduce the interference, the user equipment may perform interference suppression, shaping, or both based on choosing radar waveform patterns that are varied across chirps. In one aspect, the user equipment (e.g., a vehicle) may identify waveform patterns selected by nearby vehicles based on side channel or centralized signaling and may suppress or shape interference by selecting waveform parameters based on this information. In one aspect, the pattern of waveform parameters is chosen from a codebook of patterns. The selected pattern can be broadcasted to the other vehicles using a side-communication channel.

公开(公告)号：US12148169B2

公开(公告)日：2024-11-19

申请号：US17480016

申请日：2021-09-20

Applicant: QUALCOMM Incorporated

Inventor： Jayakrishnan Unnikrishnan ,  Avdhut Joshi

IPC: G06T7/20 ,  G06T7/73 ,  G06V10/46

Abstract: Systems and techniques are described for performing object detection and tracking. For example, a tracking object can obtain an image comprising a target object at least partially in contact with a surface. The tracking object can obtain a plurality of two-dimensional (2D) keypoints based on one or more features associated with one or more portions of the target object in contact with the surface in the image. The tracking object can obtain information associated with a contour of the surface. Based on the plurality of 2D keypoints and the information associated with the contour of the surface, the tracking object can determine a three-dimensional (3D) representation associated with the plurality of 2D keypoints.

公开(公告)号：US12141991B2

公开(公告)日：2024-11-12

申请号：US17678955

申请日：2022-02-23

Applicant: QUALCOMM Incorporated

Inventor： Urs Niesen ,  Jayakrishnan Unnikrishnan

IPC: G06T7/50 ,  G01S17/89 ,  G06N3/045

Abstract: Disclosed are techniques for radar-aided single-image three-dimensional (3D) depth reconstruction. In an aspect, at least one processor of an on-board computer of an ego vehicle receives, from a radar sensor of the ego vehicle, at least one radar image of an environment of the ego vehicle, receives, from a camera sensor of the ego vehicle, at least one camera image of the environment of the ego vehicle, receives, from a light detection and ranging (LiDAR) sensor of the ego vehicle, at least one LiDAR image of the environment of the ego vehicle, and generates a depth image of the environment of the ego vehicle based on the at least one radar image, the at least one LiDAR image, and the at least one camera image.

公开(公告)号：US11914046B2

公开(公告)日：2024-02-27

申请号：US17107421

申请日：2020-11-30

Applicant: QUALCOMM Incorporated

Inventor： Michael John Hamilton ,  Jayakrishnan Unnikrishnan ,  Urs Niesen

IPC: G01S17/93 ,  G01S17/931 ,  G02B26/12 ,  G01S7/481

CPC classification number: G01S17/931 ,  G02B26/123 ,  G01S7/4812

Abstract: Methods, systems, computer-readable media, and apparatuses for radar or LIDAR measurement are presented. Some configurations include transmitting, via a transceiver, a first beam having a first frequency characteristic; calculating a distance between the transceiver and a moving object based on information from at least one reflection of the first beam; transmitting, via the transceiver, a second beam having a second frequency characteristic that is different than the first frequency characteristic, wherein the second beam is directed such that an axis of the second beam intersects a ground plane; and calculating an ego-velocity of the transceiver based on information from at least one reflection of the second beam. Applications relating to road vehicular (e.g., automobile) use are described.

公开(公告)号：US11630197B2

公开(公告)日：2023-04-18

申请号：US16733222

申请日：2020-01-02

Applicant: QUALCOMM Incorporated

Inventor： Jayakrishnan Unnikrishnan ,  Avdhut Joshi ,  Shivam Agarwal ,  Amir Salimi ,  Sree Sesha Aravind Vadrevu ,  Gautam Sachdeva ,  Yoga Y Nadaraajan ,  Ravi Teja Sukhavasi ,  Xinzhou Wu ,  Young-Ki Baik ,  Duck Hoon Kim ,  Hyun-Mook Cho

IPC: G06T7/277 ,  G01S13/58 ,  G06T7/246 ,  G01S13/931 ,  B60R11/04 ,  G06V20/58 ,  G06V20/56 ,  G06V10/25 ,  G06V10/762 ,  G06V10/80

Abstract: Disclosed are techniques for determining a motion state of a target object. In an aspect, an on-board computer of an ego vehicle detects the target object in one or more images, determines one or more first attributes of the target object based on measurements of the one or more images, determines one or more second attributes of the target object based on measurements of a map of a roadway on which the target object is travelling, and determines the motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.