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    Method to Detect Nearby Aggressive Drivers and Adjust Driving Modes
    21.
    发明申请
    Method to Detect Nearby Aggressive Drivers and Adjust Driving Modes 审中-公开
    检测附近侵略性驱动程序和调整驾驶模式的方法

    公开(公告)号：US20140236414A1

    公开(公告)日：2014-08-21

    申请号：US13772615

    申请日：2013-02-21

    Applicant: Google Inc.

    Inventor： Pierre-yves Droz ,  Jiajun Zhu

    IPC: G05D1/00

    CPC classification number: G08G1/161 ,  B60W50/0098 ,  B60W2050/0075 ,  B60W2420/42 ,  B60W2550/308 ,  G01S17/936 ,  G06K9/00805 ,  G08G1/015 ,  G08G1/166

    Abstract: A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.

    Abstract translation: 计算设备可以被配置为接收指示在第一车辆的行驶道路上的车辆的各自特征的传感器信息。 计算设备可以被配置为基于相应的特征来识别呈现为不安全或非法驾驶动作的侵略性驾驶行为的第二车辆。 此外，基于各自的特性，计算装置可以被配置为确定第二车辆的类型。 计算设备可以被配置为估计第一车辆和第二车辆之间的距离。 计算装置可以被配置为基于第二车辆的积极驾驶行为，第二车辆的类型以及第一车辆和第二车辆之间的距离来修改第一车辆的控制策略; 并根据修改的控制策略控制第一辆车。

    THREE-DIMENSIONAL ANNOTATIONS FOR STREET VIEW DATA
    24.
    发明申请
    THREE-DIMENSIONAL ANNOTATIONS FOR STREET VIEW DATA 审中-公开
    街道视图数据的三维附注

    公开(公告)号：US20170069121A1

    公开(公告)日：2017-03-09

    申请号：US15290606

    申请日：2016-10-11

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

    IPC: G06T11/60 ,  G06T7/00 ,  G06T19/20 ,  G06F17/24

    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来实现的。 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。

    Obstacle evaluation technique
    25.
    发明授权
    Obstacle evaluation technique 有权
    障碍评估技术

    公开(公告)号：US09495875B2

    公开(公告)日：2016-11-15

    申请号：US14296670

    申请日：2014-06-05

    Applicant: Google Inc.

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu

    IPC: B60R21/00 ,  B60R21/013 ,  B60W30/095 ,  B60W30/08 ,  G08G1/16 ,  G06K9/00

    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。

    Methods and Systems for Object Detection using Laser Point Clouds
    26.
    发明申请
    Methods and Systems for Object Detection using Laser Point Clouds 有权
    使用激光点云对象检测的方法和系统

    公开(公告)号：US20160035081A1

    公开(公告)日：2016-02-04

    申请号：US14749151

    申请日：2015-06-24

    Applicant: Google Inc.

    Inventor： James Stout ,  Jiajun Zhu

    IPC: G06T7/00 ,  G06K9/00

    CPC classification number: G06T7/521 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30261

    Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.

    Abstract translation: 本文描述了使用激光点云进行物体检测的方法和系统。 在示例实现中，计算设备可以从传感器接收指示车辆环境的激光数据，并且基于激光数据生成包括表示对象在环境中的各个位置的像素的二维（2D）范围图像。 计算设备可以修改2D范围图像以向给定像素提供值，该给定像素映射到缺乏激光数据的环境中的对象的部分，其可以涉及基于由给定像素定位的相邻像素的平均值向给定像素提供值 。 另外，计算设备可以基于修改的2D范围图像来确定对应于环境中的对象的表面的像素组的法向矢量，并且可以使用法向量向车辆的系统提供对象识别信息。

    Estimating multi-vehicle motion characteristics by finding stable reference points
    27.
    发明授权
    Estimating multi-vehicle motion characteristics by finding stable reference points 有权
    通过找到稳定的参考点来估计多车辆运动特性

    公开(公告)号：US09207680B1

    公开(公告)日：2015-12-08

    申请号：US14510290

    申请日：2014-10-09

    Applicant: Google Inc.

    Inventor： Pratik Agarwal ,  Jiajun Zhu

    IPC: G01C22/00 ,  G05D1/02 ,  G06K9/00 ,  G06T7/20

    CPC classification number: G05D1/0251 ,  G05D1/0253 ,  G05D2201/0213 ,  G06K9/00791 ,  G06T7/33 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20068 ,  G06T2207/20076 ,  G06T2207/30252 ,  G06T2207/30256

    Abstract: A computing device may identify an object in an environment of a vehicle and receive a first three-dimensional (3D) point cloud depicting a first view of the object. The computing device may determine a reference point on the object in the first 3D point cloud, and receive a second 3D point cloud depicting a second view of the object. The computing device may determine a transformation between the first view and the second view, and estimate a projection of the reference point from the first view relative to the second view based on the transformation so as to trace the reference point from the first view to the second view. The computing device may determine one or more motion characteristics of the object based on the projection of the reference point.

    Abstract translation: 计算设备可以识别车辆环境中的对象，并且接收描绘对象的第一视图的第一三维（3D）点云。 计算设备可以确定第一3D点云中的对象上的参考点，并且接收描绘对象的第二视图的第二3D点云。 计算设备可以确定第一视图和第二视图之间的变换，并且基于变换来估计参考点从第一视图相对于第二视图的投影，以便将参考点从第一视图跟踪到第 第二观点。 计算设备可以基于参考点的投影来确定对象的一个​​或多个运动特征。

    USING IMAGE CONTENT TO FACILITATE NAVIGATION IN PANORAMIC IMAGE DATA
    28.
    发明申请
    USING IMAGE CONTENT TO FACILITATE NAVIGATION IN PANORAMIC IMAGE DATA 有权
    使用图像内容来促进全景图像数据中的导航

    公开(公告)号：US20150116326A1

    公开(公告)日：2015-04-30

    申请号：US14584183

    申请日：2014-12-29

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

    IPC: G06F3/0481 ,  G06T15/06 ,  G06T3/40 ,  G06T17/00

    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。

    Estimating road lane geometry using lane marker observations
    29.
    发明授权
    Estimating road lane geometry using lane marker observations 有权
    使用车道标记观察估计道路几何

    公开(公告)号：US08948958B1

    公开(公告)日：2015-02-03

    申请号：US14270653

    申请日：2014-05-06

    Applicant: Google Inc.

    Inventor： David Ian Franklin Ferguson ,  Jiajun Zhu

    IPC: G01C21/26 ,  G01S17/89 ,  G05D1/00 ,  B60W10/20 ,  G05D1/02

    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。

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