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公开(公告)号：US11461915B2
公开(公告)日：2022-10-04
申请号：US17142199
申请日：2021-01-05
Applicant: QUALCOMM Incorporated
Inventor： Jayakrishnan Unnikrishnan , Avdhut Joshi , Shivam Agarwal , Yoga Y Nadaraajan , Amir Salimi , Urs Niesen , Sree Sesha Aravind Vadrevu , Gautam Sachdeva
Abstract: Techniques and systems are provided for determining one or more sizes of one or more objects. For example, a bounding region identifying a first object detected in an image can be obtained. A map including map points can also be obtained. The map points correspond to one or more reference locations in a three-dimensional space. The bounding region identifying the first object can be associated with at least one map point of the map points included in the map. Using the bounding region and the at least one map point, an estimated three-dimensional position and an estimated size of the first object detected in the image can be determined. In some examples, other information can be used to estimate the estimated three-dimensional position and an estimated size of the first object, such as radar information and/or other information.
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2.发明申请公开(公告)号：US20180188384A1
公开(公告)日：2018-07-05
申请号：US15703588
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Yiming Chen , Avdhut Joshi , John Steven Lima
Abstract: A method for visual inertial odometry (VIO)-aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.
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公开(公告)号：US20240362807A1
公开(公告)日：2024-10-31
申请号：US18309444
申请日：2023-04-28
Applicant: QUALCOMM Incorporated
Inventor： Yunxiao Shi , Amin Ansari , Sai Madhuraj Jadhav , Avdhut Joshi
CPC classification number: G06T7/55 , G06T7/254 , G06T2207/20084 , G06T2207/30252
Abstract: An example device for processing image data includes a processing unit configured to: receive, from a camera of a vehicle, a first image frame at a first time and a second image frame at a second time; receive, from an odometry unit of the vehicle, a first position of the vehicle at the first time and a second position of the vehicle at a second time; calculate a pose difference value representing a difference between the second and first positions; form a pose frame having a size corresponding to the first and second image frames and sample values including the pose difference value; and provide the first and second image frames and the pose frame to a neural networking unit configured to calculate depth for objects in the first image frame and the second image frame, the depth for the objects representing distances between the objects and the vehicle.
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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
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.
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公开(公告)号：US20180189576A1
公开(公告)日：2018-07-05
申请号：US15629311
申请日：2017-06-21
Applicant: QUALCOMM Incorporated
Inventor： Avdhut Joshi , Arvind Ramanandan , Murali Chari
CPC classification number: G06K9/00798 , G01B11/30 , G01C21/165 , G01C22/00 , G06K9/6267 , G06T2207/30244
Abstract: An electronic device is described. The electronic device includes a memory and a processor in communication with the memory. The memory is configured to store precalibration data for a camera mounted on a vehicle, the precalibration data including a camera height determined relative to a road plane the vehicle is configured to contact during operation. The processor is configured to receive a plurality of images. The processor is also configured to classify one or more features in the plurality of images as road features based on the precalibration data.
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Patent Agency Ranking
公开(公告)号：US20250094796A1
公开(公告)日：2025-03-20
申请号：US18467804
申请日：2023-09-15
Applicant: QUALCOMM Incorporated
Inventor： Amin Ansari , Makesh Pravin John Wilson , Avdhut Joshi , Sai Madhuraj Jadhav
IPC: G06N3/08 , G06N3/0455 , G06N3/048
Abstract: Example systems and techniques are described for training a machine learning model. A system includes memory configured to store image data captured by a plurality of cameras and one or more processors communicatively coupled to the memory. The one or more processors are configured to execute a machine learning model on the image data, the machine learning model including a plurality of layers. The one or more processors are configured to apply a non-linear mapping function to output of one layer of the plurality of layers to generate depth data. The one or more processors are configured to train the machine learning model based on the depth data to generate a trained machine learning model.
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公开(公告)号：US12103540B2
公开(公告)日：2024-10-01
申请号：US17443974
申请日：2021-07-29
Applicant: QUALCOMM Incorporated
Inventor： Volodimir Slobodyanyuk , Avdhut Joshi , Sundar Subramanian
CPC classification number: B60W40/08 , B60W60/001 , B60W2540/01
Abstract: In some aspects, a device may receive point data associated with a cell of an occupancy grid for controlling a vehicle. The device may determine, based on the point data, a characteristic of the cell that is associated with an occupancy probability of the cell, wherein the occupancy probability is determined according to a first technique based on the point data. The device may configure, based on the characteristic, the occupancy probability for the cell, within the occupancy grid, according to a second technique. Numerous other aspects are described.
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公开(公告)号：US20240221194A1
公开(公告)日：2024-07-04
申请号：US18148816
申请日：2022-12-30
Applicant: QUALCOMM Incorporated
Inventor： Amin Ansari , Yunxiao Shi , Sai Madhuraj Jadhav , Avdhut Joshi
CPC classification number: G06T7/50 , G06T7/11 , G06T2207/30252
Abstract: This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a computing device receives a predicted depth map determined by a model and determines differences between the predicted depth map and a depth mask. The depth mask may be predetermined to include values indicating a probability that a corresponding region of the predicted depth map is a sky region. A first loss term for the predicted depth map is determined based on the differences and the model is trained based on the first loss term. Other aspects and features are also claimed and described.
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公开(公告)号：US11834071B2
公开(公告)日：2023-12-05
申请号：US16984312
申请日：2020-08-04
Applicant: QUALCOMM Incorporated
Inventor： Ahmed Kamel Sadek , Avdhut Joshi , Gautam Sachdeva , Yoga Y Nadaraajan
CPC classification number: B60W60/0015 , B60W50/14 , G06F16/2379 , B60W2050/143 , G06F9/5055
Abstract: Methods, system, non-transitory media, and devices for supporting safety compliant computing in a heterogeneous computing system, such as a vehicle heterogeneous computing system are disclosed. Various aspects include methods enabling a vehicle, such as an autonomous vehicle, a semi-autonomous vehicle, etc., to achieve algorithm safety for various algorithms on a heterogeneous compute platform with various safety levels.
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10.发明授权公开(公告)号：US10371530B2
公开(公告)日：2019-08-06
申请号：US15703483
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Avdhut Joshi
Abstract: A method performed by an electronic device is described. The method includes determining a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU). The method also includes determining, using a Global Positioning System (GPS) receiver, a GPS velocity relative to Earth. The method further includes determining a difference vector between the predicted velocity and the GPS velocity. The method additionally includes refining a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector. The method also includes refining a misalignment estimate between the camera and the IMU based on the difference vector. The method further includes providing pose information based on the refined bias estimate, the refined scale factor, and the refined misalignment estimate.
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