公开(公告)号：US20230215190A1

公开(公告)日：2023-07-06

申请号：US17680114

申请日：2022-02-24

Applicant: QUALCOMM Incorporated

Inventor： Behnaz REZAEI ,  Christopher BRUNNER

IPC: G06V20/56 ,  G06V10/77 ,  G06V10/82 ,  G01S17/89

CPC classification number: G06V20/588 ,  G06V10/7715 ,  G06V10/82 ,  G01S17/89

Abstract: Certain aspects are directed to an apparatus for lane estimation. The apparatus generally includes: at least one memory; and at least one processor coupled to the at least one memory and configured to receive a first input associated with a three-dimensional (3D) space, extract, from the first input, a first set of points associated with a ground plane of the 3D space, map each of the first set of points to a region of a plurality of regions of a two-dimensional (2D) frame, determine one or more attributes associated with each region of the plurality of regions based on one or more of the first set of points mapped to the region, and identify one or more road lanes based on the one or more attributes.

公开(公告)号：US20240200969A1

公开(公告)日：2024-06-20

申请号：US18067798

申请日：2022-12-19

Applicant: QUALCOMM Incorporated

Inventor： Volodimir SLOBODYANYUK ,  Radhika Dilip GOWAIKAR ,  Makesh Pravin JOHN WILSON ,  Shantanu Chaisson SANYAL ,  Avdhut JOSHI ,  Christopher BRUNNER ,  Behnaz REZAEI ,  Amin ANSARI

IPC: G01C21/00 ,  G05B13/02 ,  G08G1/01

CPC classification number: G01C21/3807 ,  G01C21/3841 ,  G05B13/027 ,  G08G1/0104

Abstract: In some aspects, a device may receive sensor data associated with a vehicle and a set of frames. The device may aggregate, using a first pose, the sensor data associated with the set of frames to generate an aggregated frame, wherein the aggregated frame is associated with a set of cells. The device may obtain an indication of a respective occupancy label for each cell from the set of cells, wherein the respective occupancy label includes a first occupancy label or a second occupancy label, and wherein a subset of cells from the set of cells are associated with the first occupancy label. The device may train, using data associated with the aggregated frame, a machine learning model to generate an occupancy grid, based on a loss function that only calculates a loss for respective cells from the subset of cells. Numerous other aspects are described.

公开(公告)号：US20150094952A1

公开(公告)日：2015-04-02

申请号：US14497235

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mark Leo MOEGLEIN ,  Christopher BRUNNER ,  Arvind RAMANANDAN ,  Mahesh RAMACHANDRAN ,  Abhishek TYAGI ,  Murali Ramaswamy CHARI

IPC: G01C21/00 ,  G06T7/20 ,  G01S19/13

CPC classification number: G06T7/248 ,  G01C21/00 ,  G01C21/165 ,  G01C21/20 ,  G01C21/206 ,  G01C25/005 ,  G01S5/0263 ,  G01S5/0294 ,  G01S5/16 ,  G01S5/163 ,  G01S19/13 ,  G01S19/14 ,  G06K9/00671 ,  G06T7/579 ,  G06T7/60 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30241 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04M2250/12 ,  H04M2250/52 ,  H04W4/029 ,  H04W4/043 ,  H04W4/33

Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

Abstract translation: 所公开的实施例涉及使用用户设备（UE），用于基于所捕获的图像和与每个捕捉的图像相关联的测量集合来生成结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量））和/或其他非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像子集中的闭环轨迹和特征点来获得结构的3D结构包络。

公开(公告)号：US20200219264A1

公开(公告)日：2020-07-09

申请号：US16734752

申请日：2020-01-06

Applicant: QUALCOMM Incorporated

Inventor： Christopher BRUNNER ,  Radhika Dilip GOWAIKAR ,  Fu-Chun YEH ,  Michael Joshua SHOMIN ,  John Anthony DOUGHERTY ,  Jayakrishnan UNNIKRISHNAN

IPC: G06T7/11 ,  G06T7/20 ,  G06T7/194 ,  G06T7/70

Abstract: Disclosed are techniques for annotating image frames using information from a light detection and ranging (LiDAR) sensor. An exemplary method includes receiving, from the LiDAR sensor, at least one LiDAR frame, receiving, from a camera sensor, at least one image frame, removing LiDAR points that represent a ground surface of the environment, identifying LiDAR points of interest in the at least one LiDAR frame, segmenting the LiDAR points of interest to identify at least one object of interest in the at least one LiDAR frame, and annotating the at least one image frame with a three-dimensional oriented bounding box of the at least one object of interest detected in the at least one image frame by projecting the three-dimensional oriented bounding boxes from the at least one LiDAR frame to the at least one image frame using cross-calibration transforms between the LiDAR sensor and the camera.

公开(公告)号：US20180232907A1

公开(公告)日：2018-08-16

申请号：US15641510

申请日：2017-07-05

Applicant: QUALCOMM Incorporated

Inventor： Chiachi SUNG ,  Gary MCGRATH ,  Christopher BRUNNER

IPC: G06T7/80 ,  H04N17/00 ,  G06T7/73

Abstract: Embodiments include devices and methods for automatically calibrating a camera. In various embodiments, an image sensor may capture an image. Locations of one or more points including in the captured image frames may be predicted and detected. Calibration parameters may be calculated based on differences between predicted locations of a selected point within an image frame and observed locations of the selected point within the captured image frame. The automatic camera calibration method may be repeated until the calibration parameters satisfy a calibration quality threshold.

公开(公告)号：US20150092985A1

公开(公告)日：2015-04-02

申请号：US14497135

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mahesh RAMACHANDRAN ,  Arvind RAMANANDAN ,  Christopher BRUNNER ,  Abhishek TYAGI ,  Murali Ramaswamy CHARI ,  Mingyang LI

IPC: G06T7/20

CPC classification number: G06T7/246 ,  G01C21/165 ,  G01S5/0263 ,  G01S5/0294 ,  G01S19/39 ,  G06T7/277 ,  G06T2207/10004 ,  G06T2207/10016

Abstract: Techniques are disclosed for estimating one or more parameters in a system. A device obtains measurements corresponding to a first set of features and a second set of features. The device estimates the parameters using an extended Kalman filter based on the measurements corresponding to the first set of features and the second set of features. The measurements corresponding to the first set of features are used to update the one or more parameters, and information corresponding to the first set of features. The measurements corresponding to the second set of features are used to update the parameters and uncertainty corresponding to the parameter. In on example, information corresponding to the second set of features is not updated during the estimating. Moreover, the parameters are estimated without projecting the information corresponding to the second set of features into a null-space.

Abstract translation: 公开了用于估计系统中的一个或多个参数的技术。 设备获得对应于第一组特征和第二组特征的测量。 该设备基于与第一组特征和第二组特征相对应的测量使用扩展卡尔曼滤波器来估计参数。 对应于第一组特征的测量用于更新一个或多个参数以及对应于第一组特征的信息。 对应于第二组特征的测量用于更新与参数对应的参数和不确定性。 在示例中，在估计期间不更新与第二组特征相对应的信息。 此外，估计参数而不将与第二组特征对应的信息投影到空空间中。