公开(公告)号：US12130154B2

公开(公告)日：2024-10-29

申请号：US16591597

申请日：2019-10-02

申请人： TOP MEASURE INSTRUMENT COMPANY

发明人： Yin-Wu Lai

IPC分类号： G01C3/08 ,  G01C1/00 ,  G01S7/48 ,  G01S7/481 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931

CPC分类号： G01C3/08 ,  G01C1/00 ,  G01S7/4804 ,  G01S7/481 ,  G01S7/4817 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/86 ,  G01S17/88 ,  G01S17/931

摘要： An automatic electronic rangefinder has a central processing unit determining whether the rangefinder is perpendicular or parallel to a horizontal plane; a ranging module electrically connected to the central processing unit to detect the distance to a first target object to be measured; an inertial sensing unit electrically connected to the central processing unit to measure the angle between the lengthwise edge of the rangefinder and the horizontal plane; and a shell covering the central processing unit. When the central processing unit determines that the rangefinder is parallel or perpendicular to the horizontal plane, the central processing unit controls the ranging module to measure the distance between the rangefinder and the first target object.

公开(公告)号：US12125142B2

公开(公告)日：2024-10-22

申请号：US17808117

申请日：2022-06-22

申请人： TONGJI UNIVERSITY

发明人： Bin He ,  Gang Li ,  Runjie Shen ,  Bin Cheng ,  Zhipeng Wang ,  Ping Lu ,  Zhongpan Zhu ,  Yanmin Zhou ,  Qiqi Zhu

IPC分类号： G06T17/05 ,  B64C39/02 ,  B64U20/87 ,  B64U101/30 ,  G01C21/16 ,  G01S17/86 ,  G01S17/89 ,  G05D1/00 ,  G06T7/73 ,  G06T19/20

CPC分类号： G06T17/05 ,  B64C39/024 ,  B64U20/87 ,  G01C21/165 ,  G01S17/86 ,  G01S17/89 ,  G05D1/106 ,  G06T7/74 ,  G06T7/75 ,  G06T19/20 ,  B64U2101/30 ,  G06T2207/10028 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2219/2016

摘要： The method includes: obtaining point cloud information collected by a depth camera, laser information collected by a lidar, and motion information of an unmanned aerial vehicle (UAV); generating a raster map based on the laser information, and obtaining pose information of the UAV based on the motion information; obtaining a map model through fusing the point cloud information, the raster map, and the pose information by a Bayesian fusion method; and correcting a latest map model by feature matching based on a previous map model.

公开(公告)号：US20240345232A1

公开(公告)日：2024-10-17

申请号：US18518699

申请日：2023-11-24

申请人： Aeva, Inc.

发明人： Anatoley T. Zheleznyak ,  Chris Roller ,  Gavin Rosenbush ,  Richard L. Sebastian

IPC分类号： G01S7/497 ,  G01S7/481 ,  G01S17/86 ,  G01S17/89

CPC分类号： G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89

摘要： A system uses range and Doppler velocity measurements from a lidar subsystem and images from a video subsystem to estimate a six degree-of-freedom trajectory of a target. The video subsystem and the lidar subsystem may be aligned with one another by mapping the measurements of various facial features obtained by each of the subsystems to one another.

公开(公告)号：US20240337747A1

公开(公告)日：2024-10-10

申请号：US18746982

申请日：2024-06-18

申请人： HUAWEI TECHNOLOGIES CO., LTD.

发明人： Moussab BENNEHAR ,  Dzmitry TSISHKOU ,  Nathan PIASCO

IPC分类号： G01S17/86 ,  G01P21/00 ,  G01S7/497 ,  G01S17/87 ,  G06T7/73

CPC分类号： G01S17/86 ,  G01P21/00 ,  G01S7/497 ,  G01S17/87 ,  G06T7/73 ,  G06T2207/30244

摘要： The present disclosure relates to a sensor apparatus for sensing data of an agent (for example a vehicle) performing a movement along an agent trajectory. An example sensor apparatus includes a motion sensor configured to obtain motion sensor data of the agent along the agent trajectory, a lidar sensor configured to obtain lidar data along the agent trajectory, and an imaging sensor configured to obtain image data along the agent trajectory. Furthermore, the sensor apparatus includes a processing circuitry configured to determine, based on the motion sensor data and the lidar data, a plurality of first poses of the lidar sensor along the agent trajectory and to determine, based on the motion sensor data and the image data, a plurality of second poses of the imaging sensor along the agent trajectory.

公开(公告)号：US20240319496A1

公开(公告)日：2024-09-26

申请号：US18189334

申请日：2023-03-24

申请人： International Business Machines Corporation

发明人： Brian Paul Gaucher ,  Kevin W. Brew ,  Michael S. Gordon ,  Mattias Fitzpatrick

IPC分类号： G02B27/00 ,  G01S17/86 ,  G02B27/02

CPC分类号： G02B27/0012 ,  G01S17/86 ,  G02B27/0093 ,  G02B27/024

摘要： A method and related system selectively dims a proper subset of a plurality of tiles (DTPTs) that are a part of a contiguous dimmable transparent panel (DTP). Using a processor and in a real-time continuous feedback loop, the method comprises detecting, using a light source detector with an outward facing sensor, a location of an illumination source within a volume adjacent to an outside surface of the DTP. The method further comprises determining, using a head/eye detector with an inward facing sensor, a viewer's gaze direction within a volume adjacent to an inside surface of the DTP. The method further comprises determining a panel intersection point for a light ray extending from the illumination source location along the viewer's gaze direction. Finally, the method comprises selectively dimming the proper subset of DTPTs proximate the panel intersection point.

公开(公告)号：US20240310515A1

公开(公告)日：2024-09-19

申请号：US18573545

申请日：2022-06-22

申请人： Commonwealth Scientific and Industrial Research Organisation

发明人： Navinda Kottege ,  Ethan Tracy

IPC分类号： G01S15/89 ,  G01S13/86 ,  G01S15/86 ,  G01S15/87 ,  G01S15/931 ,  G01S17/86 ,  G06T7/593

CPC分类号： G01S15/89 ,  G01S13/86 ,  G01S15/86 ,  G01S15/876 ,  G01S15/931 ,  G01S17/86 ,  G06T7/593

摘要： A depth sensing apparatus configured to generate a depth map of an environment, the apparatus including an audio output device, at least one audio sensor and one or more processing devices configured to cause the audio output device to emit an omnidirectional emitted audio signal, acquire echo signals indicative of reflected audio signals captured by the at least one audio sensors in response to reflection of the emitted audio signal from the environment surrounding the depth sensing apparatus, generate spectrograms using the echo signals and apply the spectrograms to a computational model to generate a depth map, the computational model being trained using reference echo signals and omnidirectional reference depth images.

公开(公告)号：US20240305739A1

公开(公告)日：2024-09-12

申请号：US18258442

申请日：2021-12-20

申请人： SEESAFE INNOVATION SRL

发明人： Marta CALLIGARO ,  Marco COMPAGNONI ,  Marco MARCON

IPC分类号： H04N5/262 ,  G01S17/86 ,  G01S17/894 ,  G06T7/55 ,  G06T7/73

CPC分类号： H04N5/2624 ,  G01S17/86 ,  G01S17/894 ,  G06T7/55 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/20212

摘要： A method is described for forming a panoramic image (I); the method comprising: receiving (B1) a plurality of images (I1, I2 . . . Ir) of an environment from a corresponding plurality of cameras (C1, C2 . . . Cr) at a given time instant (t), receiving (B1) data on the position of the points relative to the physical objects of said environment shot by said plurality of cameras by at least one depth sensor (L1, L2 . . . Lf) at said given time instant, processing (B2) data obtained from the at least one depth sensor to construct the distance of all the objects contained inside said environment by a virtual camera (C), obtaining a three-dimensional map of the positions of the points relative to the physical objects of said environment, combining (B3) said three-dimensional map with the information contained in a previously made and stored lookup table (LUT) and wherein a cell of said lookup table (LUT) is allocated to each pixel of the plurality of pixels which compose said panoramic image observed by said virtual camera (C), said cell storing the information on the pixels (Pi) of said plurality of images corresponding to the position of the single point (P) of the three-dimensional map and information on the weights (Wi) associated with said corresponding pixels of said plurality of images, linearly combining (B4) said pixels of said plurality of images as a function of their weight obtaining said panoramic image.

公开(公告)号：US20240304001A1

公开(公告)日：2024-09-12

申请号：US18179075

申请日：2023-03-06

申请人： Kodiak Robotics, Inc.

发明人： Kenar Vyas ,  Sean Roelofs ,  Collin C. Otis ,  Philip C. Du Toit

IPC分类号： G06V20/56 ,  G01S17/86 ,  G01S17/894 ,  G01S17/931 ,  G06V10/82

CPC分类号： G06V20/588 ,  G01S17/86 ,  G01S17/894 ,  G01S17/931 ,  G06V10/82

摘要： Systems and methods for detecting a portion of an environment of a vehicle are provided. The method may comprise generating, using one or more sensors coupled to a vehicle, environment data from an environment of the vehicle, wherein the environmental data comprises one or more of the following: ground LiDAR data from the environment; camera data from the environment; and path data corresponding to a change in position of one or more other vehicles within the environment. The method may comprise inputting the environmental data into a machine learning model trained to generate a heatmap, and, using a processor, based on the environmental data, determining a portion of the environment, wherein the portion of the environment comprises an area having a likelihood, greater than a minimum threshold, of being adjacent to one or more pavement markings, and generating the heatmap, wherein the heatmap corresponds to the portion of the environment.

公开(公告)号：US12086933B2

公开(公告)日：2024-09-10

申请号：US17350135

申请日：2021-06-17

申请人： Board of Trustees of Michigan State University

发明人： Hayder Radha ,  Su Pang ,  Daniel Morris

IPC分类号： G06N3/04 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G06T11/00 ,  G06T17/05

CPC分类号： G06T17/05 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G06T11/00 ,  G06T2210/12

摘要： A method and system of operating a vehicle includes a first sensor generating first sensor data for an object comprising a first bounding box from a first sensor. The first sensor data comprising a first confidence score. A second sensor generates second sensor data for the object comprising a second bounding box from a second sensor different than the second sensor. The second sensor data comprises a second confidence score. A bounding box circuit is programmed to generate a third confidence score for the object based on the first sensor data and the second sensor data and utilize the first sensor data, the second sensor data and the third confidence score to control operation of a vehicle system.

公开(公告)号：US12066540B2

公开(公告)日：2024-08-20

申请号：US17679741

申请日：2022-02-24

申请人： HONDA MOTOR CO., LTD.

发明人： Motoki Chiba

IPC分类号： G01S17/89 ,  B60W50/00 ,  G01S7/48 ,  G01S7/481 ,  G01S17/32 ,  G01S17/86 ,  G06V20/56

CPC分类号： G01S17/89 ,  B60W50/0098 ,  G01S7/4808 ,  G01S7/4817 ,  G01S17/32 ,  G01S17/86 ,  G06V20/588 ,  B60W2552/15

摘要： An axial deviation estimation apparatus of an in-vehicle sensor includes a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle, an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle, and a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit. The estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar.