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    Methods and systems for object detection using laser point clouds
    41.
    发明授权
    Methods and systems for object detection using laser point clouds 有权
    使用激光点云的物体检测的方法和系统

    公开(公告)号：US09098754B1

    公开(公告)日：2015-08-04

    申请号：US14262651

    申请日：2014-04-25

    Applicant: Google Inc.

    Inventor： James Stout ,  Jiajun Zhu

    IPC: G06K9/00 ,  G06K9/46

    CPC classification number: G06T7/521 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30261

    Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.

    Abstract translation: 本文描述了使用激光点云进行物体检测的方法和系统。 在示例实现中，计算设备可以从传感器接收指示车辆环境的激光数据，并且基于激光数据生成包括表示对象在环境中的各个位置的像素的二维（2D）范围图像。 计算设备可以修改2D范围图像以向给定像素提供值，该给定像素映射到缺乏激光数据的环境中的对象的部分，其可以涉及基于由给定像素定位的相邻像素的平均值向给定像素提供值 。 另外，计算设备可以基于修改的2D范围图像来确定对应于环境中的对象的表面的像素组的法向矢量，并且可以使用法向量向车辆的系统提供对象识别信息。

    Methods and systems for detection of reflective markers at long range
    42.
    发明授权
    Methods and systems for detection of reflective markers at long range 有权
    用于检测远距离反射标记物的方法和系统

    公开(公告)号：US09080866B1

    公开(公告)日：2015-07-14

    申请号：US13927518

    申请日：2013-06-26

    Applicant: Google Inc.

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu ,  Pierre-yves Droz ,  Luke Wachter ,  Dorel Ionut Iordache

    IPC: G01B11/00 ,  G01S17/10 ,  G01B11/28 ,  G01S17/02

    CPC classification number: G01S17/026 ,  G01C3/08 ,  G01S7/4802 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00798 ,  G08G5/0026 ,  G08G5/065

    Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.

    Abstract translation: 提供了用于检测远距离反射标记的示例方法和系统。 示例性方法包括接收从车辆的环境的连续扫描收集的激光数据。 该方法还包括基于从相应的连续扫描收集的激光数据确定一个或多个对象的相应尺寸。 该方法可以进一步包括由计算设备确定并且至少部分地基于相应连续扫描的一个或多个对象的相应大小来确定作为与车辆距离的函数的尺寸变化的对象。 该方法还可以包括确定对象代表反射标记。 在一个示例中，计算设备可以使用一个反射标记的检测来帮助检测可能处于相似位置的后续反射标记。

    System and method for automatically detecting key behaviors by vehicles
    43.
    发明授权
    System and method for automatically detecting key behaviors by vehicles 有权
    自动检测车辆关键行为的系统和方法

    公开(公告)号：US08935034B1

    公开(公告)日：2015-01-13

    申请号：US14190621

    申请日：2014-02-26

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  David Ian Franklin Ferguson ,  Dmitri A. Dolgov

    IPC: G05D1/02

    CPC classification number: B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

    Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

    Abstract translation: 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。

    Pedestrian notifications
    44.
    发明授权
    Pedestrian notifications 有权

    公开(公告)号：US08914212B1

    公开(公告)日：2014-12-16

    申请号：US14095107

    申请日：2013-12-03

    Applicant: Google Inc.

    Inventor： Christopher Paul Urmson ,  Ian James Mahon ,  Dmitri A. Dolgov ,  Jiajun Zhu

    IPC: G08G1/16

    Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.

    Generating video from panoramic images using transition trees
    45.
    发明授权
    Generating video from panoramic images using transition trees 有权
    使用过渡树从全景图像生成视频

    公开(公告)号：US08902282B1

    公开(公告)日：2014-12-02

    申请号：US14104204

    申请日：2013-12-12

    Applicant: Google Inc.

    Inventor： Jiajun Zhu

    IPC: H04N7/00 ,  H04N21/472

    CPC classification number: H04N21/21805 ,  G06T19/003 ,  G11B27/031 ,  H04N5/147 ,  H04N5/2628 ,  H04N21/472

    Abstract: Methods and systems for generating video from panoramic images using transition trees are provided. According to an embodiment, a method for generating a video from panoramic images may include receiving a transition tree corresponding to a current panoramic image from a server. The method may also include determining a path of the transition tree to a next panoramic image based on a user navigation request. The method may further include requesting and receiving a video chunk from the server for each edge of the determined path of the transition tree. The method may also include displaying the requested video chunks in sequence according to the transition tree. According to another embodiment, a system for generating a video from panoramic images may include a transition tree module and a video display module.

    Abstract translation: 提供了使用过渡树从全景图像生成视频的方法和系统。 根据实施例，用于从全景图像生成视频的方法可以包括从服务器接收与当前全景图像相对应的过渡树。 该方法还可以包括基于用户导航请求来确定转换树到下一个全景图像的路径。 该方法还可以包括从转发树的确定路径的每个边缘向服务器请求和接收视频块。 该方法还可以包括根据转换树依次显示所请求的视频块。 根据另一个实施例，用于从全景图像生成视频的系统可以包括转换树模块和视频显示模块。

    Methods and Systems for Detecting Weather Conditions Including Wet Surfaces Using Vehicle Onboard Sensors
    46.
    发明申请
    Methods and Systems for Detecting Weather Conditions Including Wet Surfaces Using Vehicle Onboard Sensors 有权
    使用车载传感器检测包括湿表面的天气条件的方法和系统

    公开(公告)号：US20140307247A1

    公开(公告)日：2014-10-16

    申请号：US13860664

    申请日：2013-04-11

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

    IPC: G01S17/02

    CPC classification number: G01S17/023 ,  B60W40/064 ,  G01S13/66 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/66 ,  G01S17/936 ,  G01S17/95 ,  Y02A90/19

    Abstract: Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.

    Abstract translation: 提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据。 该方法还包括确定与环境中的一个或多个对象相关联的激光数据点，并且基于与环境中的一个或多个对象不相关的激光数据点，识别车辆行驶的表面是 湿。 该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示 激光数据点与雷达数据所指示的环境中的一个或多个物体无关。

    THREE-DIMENSIONAL ANNOTATIONS FOR STREET VIEW DATA
    47.
    发明申请
    THREE-DIMENSIONAL ANNOTATIONS FOR STREET VIEW DATA 有权
    街道视图数据的三维附注

    公开(公告)号：US20140210817A1

    公开(公告)日：2014-07-31

    申请号：US14230840

    申请日：2014-03-31

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

    IPC: G06F17/30 ,  G06T19/00

    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。

    Methods and systems for vehicle perception feedback to classify data representative of types of objects and to request feedback regarding such classifications
    49.
    发明授权
    Methods and systems for vehicle perception feedback to classify data representative of types of objects and to request feedback regarding such classifications 有权
    用于车辆感知反馈的方法和系统，用于对表示对象类型的数据进行分类，并请求关于此类分类的反馈

    公开(公告)号：US09489635B1

    公开(公告)日：2016-11-08

    申请号：US13666043

    申请日：2012-11-01

    Applicant: Google Inc.

    Inventor： Jiajun Zhu

    IPC: H04N7/18 ,  G06N99/00 ,  G06K9/00

    CPC classification number: G06N99/005 ,  G06K9/00805 ,  G06K9/033 ,  G06N5/025

    Abstract: Aspects of the disclosure relate generally to methods and systems for improving object detection and classification. An example system may include a perception system and a feedback system. The perception system may be configured to receive data indicative of a surrounding environment of a vehicle, and to classify one or more portions of the data as representative of a type of object based on parameters associated with a machine learning classifier. The feedback system may be configured to request feedback regarding a classification of an object by the perception system based on a confidence level associated with the classification being below a threshold, and to cause the parameters associated with the machine classifier to be modified based on information provided in response to the request.

    Abstract translation: 本公开的方面通常涉及用于改进对象检测和分类的方法和系统。 示例系统可以包括感知系统和反馈系统。 感知系统可以被配置为接收指示车辆的周围环境的数据，并且基于与机器学习分类器相关联的参数来将数据的一个或多个部分分类为对象类型的代表。 反馈系统可以被配置为基于感知系统基于与分类相关的置信水平低于阈值来请求关于对象的分类的反馈，并且基于提供的信息使与机器分类器相关联的参数被修改 响应请求。

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