公开(公告)号：US09086481B1

公开(公告)日：2015-07-21

申请号：US13745383

申请日：2013-01-18

Applicant: Jonathan Baldwin Dowdall ,  Jiajun Zhu

Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu

IPC: G01S17/58 ,  G01C3/08

CPC classification number: G01S17/58 ,  G01C3/08 ,  G01S7/4817 ,  G01S13/58 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9382

Abstract: Methods and systems for estimating vehicle speed are disclosed. A light detecting and ranging (LIDAR) device obtains a set of spatial points indicative of locations of reflective surfaces in an environment of the LIDAR device. A plurality of target points that correspond to a target surface of a target vehicle is identified in the set of spatial points. The plurality of target points includes a first point indicative of a first location on the target surface obtained by the LIDAR device at a first time and a second point indicative of a second location on the target surface obtained by the LIDAR device at a second time. A speed of the target vehicle is estimated based on the first location, the first time, the second location, and the second time.

Abstract translation: 公开了用于估计车辆速度的方法和系统。 光检测和测距（LIDAR）装置获得指示激光雷达装置的环境中的反射表面的位置的一组空间点。 在该组空间点中识别对应于目标车辆的目标表面的多个目标点。 多个目标点包括指示由第一时间由激光雷达装置获得的目标表面上的第一位置的第一点和指示由激光雷达装置在第二时间获得的目标表面上的第二位置的第二点。 基于第一位置，第一时间，第二位置和第二时间来估计目标车辆的速度。

公开(公告)号：US09052721B1

公开(公告)日：2015-06-09

申请号：US13597143

申请日：2012-08-28

Applicant: Jonathan Baldwin Dowdall ,  Dmitri Dolgov ,  David Ian Ferguson ,  Jiajun Zhu

Inventor： Jonathan Baldwin Dowdall ,  Dmitri Dolgov ,  David Ian Ferguson ,  Jiajun Zhu

IPC: G05D1/02 ,  B64D45/00

CPC classification number: G05D1/0272 ,  B64D45/00 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0213

Abstract: Methods and systems for alignment of light detection and ranging (LIDAR) data are described. In some examples, a computing device of a vehicle may be configured to compare a three-dimensional (3D) point cloud to a reference 3D point cloud to detect obstacles on a road. However, in examples, the 3D point cloud and the reference 3D point cloud may be misaligned. To align the 3D point cloud with the reference 3D point cloud, the computing device may be configured to determine a planar feature in the 3D point cloud of the road and a corresponding planar feature in the reference 3D point cloud. Further, the computing device may be configured to determine, based on comparison of the planar feature to the corresponding planar feature, a transform. The computing device may be configured to apply the transform to align the 3D point cloud with the reference 3D point cloud.

Abstract translation: 描述了光检测和测距（LIDAR）数据对准的方法和系统。 在一些示例中，车辆的计算设备可以被配置为将三维（3D）点云与参考3D点云进行比较，以检测道路上的障碍物。 然而，在示例中，3D点云和参考3D点云可能不对齐。 为了使3D点云与参考3D点云对齐，计算设备可以被配置为确定道路的3D点云中的平面特征以及参考3D点云中的相应平面特征。 此外，计算设备可以被配置为基于平面特征与对应的平面特征的比较来确定变换。 计算设备可以被配置为应用变换以使3D点云与参考3D点云对齐。

公开(公告)号：US08717354B2

公开(公告)日：2014-05-06

申请号：US13282880

申请日：2011-10-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T15/00 ,  G06T17/00 ,  G06G5/00 ,  G08G1/123 ,  G06K9/36 ,  G01C21/30 ,  G06F3/048

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：US08195394B1

公开(公告)日：2012-06-05

申请号：US13181999

申请日：2011-07-13

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：US20120038638A1

公开(公告)日：2012-02-16

申请号：US13282880

申请日：2011-10-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T15/00

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。

公开(公告)号：US20090213112A1

公开(公告)日：2009-08-27

申请号：US12038325

申请日：2008-02-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: 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。

公开(公告)号：US08825391B1

公开(公告)日：2014-09-02

申请号：US13198199

申请日：2011-08-04

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

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

IPC: G01C21/00

CPC classification number: G01S17/89 ,  G01C21/32 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0213 ,  G09B29/12

Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

Abstract translation: 本公开的方面通常涉及产生高程图。 更具体地，可以通过沿着道路移动的激光来收集数据点，并且用于产生道路的高程图。 所收集的数据点可以投影到二维或“2D”网格上。 网格可以包括多个单元，网格的每个单元表示道路的地理位置的第二。 可以评估每个单元的数据点以识别特定单元的高程。 例如，特定小区中的数据点可以以各种方式被过滤，包括闭塞，来自相邻小区的内插等。然后可以将每个小区内剩余数据点的最小值用作特定小区的高程，以及 可以使用多个单元的高程来产生道路的高程图。

公开(公告)号：US08736463B1

公开(公告)日：2014-05-27

申请号：US13361023

申请日：2012-01-30

Applicant: Jiajun Zhu ,  Dirk Haehnel

Inventor： Jiajun Zhu ,  Dirk Haehnel

IPC: B60K31/00

CPC classification number: G05D1/0274 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/11 ,  G06T7/13 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.

Abstract translation: 本公开的方面通常涉及操纵自主车辆。 具体地，车辆可以使用激光来收集道路的一部分的扫描数据。 车辆可以访问包括道路部分的详细地图。 可以根据详细地图从扫描数据识别表示对象并包括一组数据点数据的干扰。 详细的地图也可以用来估计干扰的方向。 可以使用该组数据点以及估计的标题来估计扰动的边界框。 然后可以调整边界框的参数，以便增加或最大化沿着激光可见的边界框的边缘的扰动的数据点的平均密度。 然后可以使用该调整的边界框来操纵车辆。

公开(公告)号：US20120310466A1

公开(公告)日：2012-12-06

申请号：US13150385

申请日：2011-06-01

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

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

IPC: G05D1/02

CPC classification number: G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0213

Abstract: Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle 301, 501 is able to detect objects in its surroundings which are within the sensor fields 410, 411, 430, 431, 420A-423A, 420B-423B, 570-75, 580. In response to detecting objects, the computer 110 may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer 110 may calculate the size and shape of the area of sensor diminution 620, 720 and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.

Abstract translation: 本公开的方面通常涉及安全和有效地使用自主车辆。 更具体地，自主车辆301,501能够检测其周围的传感器场410,411,430,431,420A-423A，420B-423B，570-75,580内的物体。响应于检测物体 计算机110可以调节自主车辆的速度或改变方向。 然而，在一些示例中，传感器场可以基于车辆周围的物体或其它特征而改变或变得不可靠。 因此，车辆计算机110可以基于该减小区域来计算传感器减小区域620,720的面积和形状以及新的传感器场。 响应于识别传感器减少的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。

公开(公告)号：US08274571B2

公开(公告)日：2012-09-25

申请号：US12469905

申请日：2009-05-21

Applicant: Jiajun Zhu

Inventor： Jiajun Zhu

IPC: H04N5/232

CPC classification number: H04N1/3871 ,  H04N1/00204 ,  H04N1/00244 ,  H04N1/00307 ,  H04N2201/0084 ,  H04N2201/3253

Abstract: Aspects of the invention pertain to enhanced zooming capability of user devices. A user device such as a mobile phone with a camera may capture images of different objects of interest. The capture and zooming limitations of the user device are overcome by replacing, supplementing or otherwise enhancing the image taken with one or more geo-coded images stored in a database. For instance, if the user attempts to zoom in on a feature of an object of interest and exceeds the zooming capability of the user device, a request is sent to a remote server to provide an image showing the feature of the object of interest at a desired resolution. The server determines which, if any, stored images correlate to the captured image of the object of interest. The resulting imagery is provided to the user device and is presented on a display.

Abstract translation: 本发明的方面涉及用户设备的增强的缩放能力。 诸如具有相机的移动电话的用户设备可以捕获不同感兴趣对象的图像。 通过用存储在数据库中的一个或多个地理编码图像取代，补充或以其他方式增强图像来克服用户设备的捕获和缩放限制。 例如，如果用户尝试放大感兴趣对象的特征并超过用户设备的缩放能力，则将请求发送到远程服务器以提供在一个或多个客户端显示感兴趣对象的特征的图像 所需分辨率。 服务器确定存储的图像（如果有的话）与所感兴趣对象的捕获图像相关联。 生成的图像被提供给用户设备并呈现在显示器上。