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公开(公告)号：US20250086978A1
公开(公告)日：2025-03-13
申请号：US18466460
申请日：2023-09-13
Applicant: QUALCOMM Incorporated
Inventor： Kiran Bangalore Ravi , Varun Ravi Kumar , Senthil Kumar Yogamani
Abstract: An apparatus includes a memory for storing image data and position data, wherein the image data comprises a set of two-dimensional (2D) camera images, and wherein the position data comprises a set of three-dimensional (3D) point cloud frames. The apparatus also includes processing circuitry in communication with the memory, wherein the processing circuitry is configured to convert the set of 2D camera images into a first 3D representation of a 3D environment corresponding to the image data and the position data, wherein the set of 3D point cloud frames comprises a second 3D representation of the 3D environment. The processing circuitry is also configured to generate, based on the first 3D representation and the second 3D representation, a set of bird's eye view (BEV) feature kernels in a continuous space; and generate, based on the set of BEV feature kernels, an output.
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公开(公告)号：US20250086977A1
公开(公告)日：2025-03-13
申请号：US18463709
申请日：2023-09-08
Applicant: QUALCOMM Incorporated
Inventor： Venkatraman Narayanan , Varun Ravi Kumar , Senthil Kumar Yogamani
IPC: G06V20/56 , G06T7/33 , G06V10/77 , G06V10/776
Abstract: This disclosure provides systems, methods, and devices for processing and aligning sensor data features for navigation. In a first aspect, a method is provided that includes determining, based on received sensor data, a first set of features for an area surrounding the vehicle. A second set of features for the area surrounding the vehicle may be determined based on an occupancy map for the area surrounding the vehicle. A third set of features may be determined that align the first set of features with the second set of features. The third set of features may align each of at least a subset of the second set of features with at least one corresponding feature from the first set of features. Other aspects and features are also claimed and described.
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公开(公告)号：US20250054285A1
公开(公告)日：2025-02-13
申请号：US18447785
申请日：2023-08-10
Applicant: QUALCOMM Incorporated
Inventor： Senthil Kumar Yogamani , Varun Ravi Kumar , Venkatraman Narayanan
Abstract: A sensor data processing system includes various elements, including a perception unit that collects data representing positions of sensors on a vehicle and obtains environmental information around the vehicle via the sensors. The sensor data processing system also includes a feature fusion unit that combines the first environmental information from the sensors into first fused feature data representing first positions of objects around the vehicle, provides the first fused feature data to the object tracking unit, receives feedback for the first fused feature data from the object tracking unit, and combines second environmental information from the sensors using the feedback into second fused feature data representing second positions of objects around the vehicle. The sensor data processing system may then at least partially control operation of the vehicle using the second fused feature data.
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公开(公告)号：US20240428547A1
公开(公告)日：2024-12-26
申请号：US18339408
申请日：2023-06-22
Applicant: QUALCOMM Incorporated
Inventor： Rajeev Yasarla , Varun Ravi Kumar , Senthil Kumar Yogamani
Abstract: An apparatus for multi-object tracking determines a current representation of a current object in a current image. The apparatus computes a joint Gaussian distribution between the current representation of the current object and a previous representation stored in one or more memory buffers, wherein the previous representation was determined from a previous image. The apparatus updates the one or more memory buffers based on the joint Gaussian distribution. For example, the apparatus determines whether to remove or replace the previous representation in the one or more memory buffers based on values of a covariance matrix of the joint Gaussian distribution.
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公开(公告)号：US20240378911A1
公开(公告)日：2024-11-14
申请号：US18314579
申请日：2023-05-09
Applicant: QUALCOMM Incorporated
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method is provided to train a machine learning model using image data and position data to identify contact points and ground surface normal vectors. Image data is received that depicts an object, and position data for the object is also received, such as point cloud position information for various points along the object's exterior surface. Two sets of labels may then be determined based on the position data, with one set identifying where the object contacts a ground surface and another identifying at least one normal vector for the ground surface. The machine learning model may then be trained based on both sets of labels to determine three-dimensional bounding boxes, normal maps, or combinations thereof. Other aspects and features are also claimed and described.
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Patent Agency Ranking
26.发明申请公开(公告)号：US20250156997A1
公开(公告)日：2025-05-15
申请号：US18505923
申请日：2023-11-09
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Kiran Bangalore Ravi , Senthil Kumar Yogamani
Abstract: An apparatus for processing image data includes a memory for storing the image data, wherein the image data comprises a first set of image data collected by a first camera comprising a first field of view (FOV) and a second set of image data collected by a second camera comprising a second FOV; and processing circuitry in communication with the memory. The processing circuitry is configured to: apply an encoder to extract, from the first set of image data, a first set of perspective view features; apply the encoder to extract, from the second set of image data, a second set of perspective view features; and project the first set of perspective view features and the second set of perspective view features onto a grid to generate a set of bird's eye view (BEV) features.
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27.发明申请公开(公告)号：US20250095354A1
公开(公告)日：2025-03-20
申请号：US18467657
申请日：2023-09-14
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Debasmit Das , Senthil Kumar Yogamani
Abstract: An apparatus includes a memory and processing circuitry in communication with the memory. The processing circuitry is configured to process a joint graph representation using a graph neural network (GNN) to form an enhanced graph representation. The joint graph representation includes first features from a voxelized point cloud, and second features from a plurality of camera images. The enhanced graph representation includes enhanced first features and enhanced second features. The processing circuitry is further configured to perform a diffusion processes on the enhanced first features and the enhanced second features of the enhanced graph representation to form a denoised graph representation having denoised first features and denoised second features, and fuse the denoised first features and the denoised second features of the denoised graph representation using a graph attention network (GAT) to form a fused point cloud having fused features.
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公开(公告)号：US20250086979A1
公开(公告)日：2025-03-13
申请号：US18463109
申请日：2023-09-07
Applicant: QUALCOMM Incorporated
Inventor： Venkatraman Narayanan , Varun Ravi Kumar , Senthil Kumar Yogamani
Abstract: Systems that support graph neural network (GNN) implemented multi-modal spatiotemporal fusion are provided. Identifying and tracking an object in images captured by an imaging system is facilitated by generating a graph based on multimodal data received from a plurality of sensors. The graph encodes spatial components and spatial data associated with the images and encodes temporal data associated with the images. Pooled features are generated, through application of a first graph attention network (GAT), by pooling spatial features and temporal features. The spatial features are based on the spatial component and on the spatial relationship, and the temporal features are based on the temporal relationship. A three dimensional bounding box associated with the object is decoded by propagating the pooled features through a fully connected layer.
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公开(公告)号：US20250085413A1
公开(公告)日：2025-03-13
申请号：US18463049
申请日：2023-09-07
Applicant: QUALCOMM Incorporated
Inventor： Senthil Kumar Yogamani , Varun Ravi Kumar
IPC: G01S13/86 , G01S7/35 , G01S7/41 , G01S13/931
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method of image processing includes receiving image BEV features and receiving first radio detection and ranging (RADAR) BEV features. The first RADAR BEV features that are received are determined based on first RADAR data associated with a first data type. First normalized RADAR BEV features are determined, which includes rescaling the first RADAR BEV features using a first attention mechanism based on the image BEV features and the first RADAR BEV features. Fused data is determined that combines the first normalized RADAR BEV features and the image BEV features. Other aspects and features are also claimed and described.
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30.发明申请公开(公告)号：US20250085407A1
公开(公告)日：2025-03-13
申请号：US18464769
申请日：2023-09-11
Applicant: QUALCOMM Incorporated
Inventor： Varun Ravi Kumar , Senthil Kumar Yogamani , Shivansh Rao
IPC: G01S7/497 , G01S17/86 , G01S17/931
Abstract: A method includes receiving a plurality of images, wherein a first image of the one or more images comprises a range image and a second image comprises a camera image and filtering the first image to generate a filtered first image. The method also includes generating a plurality of depth estimates based on the second image and generating an attention map by combining the filtered first image and the plurality of depth estimates. Additionally, the method includes generating a consistency score indicative of a consistency of depth estimates between the first image and the second image based on the attention map, modulating one or more features extracted from the second image based on the consistency score using a gating mechanism to generate modulated one or more features, and generating a classification of one or more soiled regions in the second image based on the modulated one or more features.
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