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1.发明公开公开(公告)号：US20240303997A1
公开(公告)日：2024-09-12
申请号：US18178705
申请日：2023-03-06
Applicant: Kodiak Robotics, Inc.
Inventor： Yinsen Jia , Colin Otis , Abhyuday Puri
CPC classification number: G06V20/58 , G01S17/89 , G06T7/50 , G06T7/90 , G06V20/188 , G06T2207/30261
Abstract: Systems and methods for detecting and labeling one or more obstacles within a vehicle environment are provided. The method may comprise generating one or more data points from one or more sensors coupled to a vehicle and, using a processor, detecting one or more obstacles within a LiDAR point cloud, generating a patch for each of the one or more detected obstacles, projecting the LiDAR point cloud into an image, performing a color query on the image for each obstacle, performing a shape query on the image for each of the one or more detected obstacles, for each of the one or more detected obstacles, determining a label for the obstacle based on one or more of the color query and the shape query and labeling the obstacle with the label. The label may indicate whether each of the one or more detected obstacles is a piece of vegetation and not a pedestrian.
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公开(公告)号：US20240300515A1
公开(公告)日：2024-09-12
申请号：US18178720
申请日：2023-03-06
Applicant: Kodiak Robotics, Inc.
Inventor： Yinsen Jia , Colin Otis , Abhyuday Puri
CPC classification number: B60W60/001 , B60W30/09 , B60W40/02 , G01S17/86 , G01S17/931 , G06V20/58 , G06V20/70 , B60W2420/403 , B60W2420/408 , B60W2554/00 , G06V10/267 , G06V20/188 , G06V2201/08
Abstract: Systems and methods for detecting and labeling a collidability of obstacles within a vehicle environment are provided. The method may comprise generating one or more data points from one or more sensors coupled to a vehicle. The method may comprise, using a processor, detecting one or more obstacles within a LiDAR point cloud, generating a patch for each of the one or more detected obstacles, projecting the LiDAR point cloud into the image, performing a factor query on an image for each of the one or more detected obstacles, for each of the one or more detected obstacles, based on the factor query, determining a label for the obstacle, and, for each of the one or more detected obstacles, labeling the obstacle with the label. The label may indicate whether each of the one or more detected obstacles is collidable and not non-collidable.
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3.发明公开公开(公告)号：US20240303998A1
公开(公告)日：2024-09-12
申请号：US18178746
申请日：2023-03-06
Applicant: Kodiak Robotics, Inc.
Inventor： Yinsen Jia , Colin Otis , Abhyuday Puri
CPC classification number: G06V20/58 , B60W30/09 , G06V10/56 , G06V20/188 , G06V20/70 , B60W2420/403 , B60W2420/408 , B60W2554/20 , B60W2554/4029 , B60W2720/10
Abstract: Systems and methods for detecting and identifying vegetation within a vehicle environment are provided. The method may comprise generating one or more data points from one or more sensors coupled to a vehicle. The one or more data points may comprise a Light Detection and Ranging (LiDAR) point cloud generated by a LiDAR sensor and an image captured by a camera. The method may further comprise, using a processor, detecting one or more obstacles within the LiDAR point cloud, generating a patch for each of the one or more obstacles, projecting the LiDAR point cloud into the image, wherein each patch represents a region of the image for each of the one or more obstacles, performing a color query on the image for each of the one or more obstacles, determining a label for the obstacle based on the color query, and labeling the obstacle with the label.
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4.发明公开公开(公告)号：US20240300516A1
公开(公告)日：2024-09-12
申请号：US18178725
申请日：2023-03-06
Applicant: Kodiak Robotics, Inc.
Inventor： Yinsen Jia , Colin Otis , Abhyuday Puri
IPC: B60W60/00 , B60W30/095 , B60W30/18 , B60W40/02 , G06T3/40 , G06T7/11 , G06T7/20 , G06T7/90 , G06V20/58 , G06V20/70
CPC classification number: B60W60/001 , B60W30/095 , B60W30/18009 , B60W40/02 , G06T3/40 , G06T7/11 , G06T7/20 , G06T7/90 , G06V20/58 , G06V20/70 , B60W2420/403 , B60W2420/408 , B60W2554/00 , G06T2207/10024 , G06T2207/10028 , G06T2207/20132 , G06T2207/30241 , G06T2207/30261
Abstract: Systems and methods for planning a trajectory of a vehicle based on one or more obstacles is provided. The method may comprise generating one or more data points from one or more sensors coupled to a vehicle, and, using a processor, detecting one or more obstacles within a LiDAR point cloud, generating a patch for each of the one or more obstacles, projecting the LiDAR point cloud into the image, wherein each patch represents a region of an image for each of the one or more obstacles, performing a factor query on the image for each of the one or more obstacles, for each of the one or more obstacles, based on the factor query, determining a label for the obstacle and labeling the obstacle with the label, and planning a trajectory of the vehicle. The label may indicate a collidability of the obstacle.
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