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    PARTIAL SUPERVISION IN SELF-SUPERVISED MONOCULAR DEPTH ESTIMATION
    1.
    发明申请
    PARTIAL SUPERVISION IN SELF-SUPERVISED MONOCULAR DEPTH ESTIMATION 审中-公开

    公开(公告)号：WO2023288262A1

    公开(公告)日：2023-01-19

    申请号：PCT/US2022/073713

    申请日：2022-07-14

    Applicant: QUALCOMM INCORPORATED

    Inventor： ANSARI, Amin ,  JOSHI, Avdhut ,  SACHDEVA, Gautam ,  SADEK, Ahmed Kamel

    IPC: G06T7/55 ,  G06N3/00

    Abstract: Certain aspects of the present disclosure provide techniques for machine learning. A depth output from a depth model is generated based on an input image frame. A depth loss for the depth model is determined based on the depth output and an estimated ground truth for the input image frame, the estimated ground truth comprising estimated depths for a set of pixels of the input image frame. A total loss for the depth model is determined based at least in part on the depth loss. The depth model is updated based on the total loss, and a new depth output, generated using the updated depth model, is output.

    MANAGING VEHICLE BEHAVIOR BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES
    3.
    发明申请
    MANAGING VEHICLE BEHAVIOR BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES 审中-公开

    公开(公告)号：WO2023091239A1

    公开(公告)日：2023-05-25

    申请号：PCT/US2022/045093

    申请日：2022-09-28

    Applicant: QUALCOMM INCORPORATED

    Inventor： TUMMALA, Gopi Krishna ,  YE, Tianqi ,  JOSHI, Avdhut ,  SURANA, Monu

    IPC: G08G1/16 ,  G08G1/0965 ,  H04W4/46 ,  H04W4/44

    Abstract: Various embodiments include methods and systems for managing vehicle behavior. In some embodiments, a vehicle processor of the first vehicle may receive dynamic traffic flow feature information relevant to movements of a second vehicle within a predetermined proximity to the host vehicle, determine probabilities of a plurality of potential behaviors of the second vehicle based on the received dynamic traffic flow feature information, predict a future path of the second vehicle, and use the predicted future path of the second vehicle in a vehicle control function. In some embodiments, the vehicle processor of the first vehicle may predict a behavior of a third vehicle based on received intention information about the second vehicle, and may adjust a behavior of the first vehicle based on the predicted behavior of the third vehicle.

    MANAGING VEHICLE BEHAVIOR BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES
    4.
    发明申请
    MANAGING VEHICLE BEHAVIOR BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES 审中-公开

    公开(公告)号：WO2023091237A1

    公开(公告)日：2023-05-25

    申请号：PCT/US2022/045010

    申请日：2022-09-28

    Applicant: QUALCOMM INCORPORATED

    Inventor： TUMMALA, Gopi Krishna ,  YE, Tianqi ,  JOSHI, Avdhut ,  SURANA, Monu

    IPC: G08G1/16 ,  G08G1/0965

    Abstract: Various embodiments include methods and systems for managing vehicle behavior. In some embodiments, a vehicle processor of the first vehicle may receive dynamic traffic flow feature information relevant to movements of a second vehicle within a predetermined proximity to the host vehicle, determine probabilities of a plurality of potential behaviors of the second vehicle based on the received dynamic traffic flow feature information, predict a future path of the second vehicle, and use the predicted future path of the second vehicle in a vehicle control function. In some embodiments, the vehicle processor of the first vehicle may predict a behavior of a third vehicle based on received intention information about the second vehicle, and may adjust a behavior of the first vehicle based on the predicted behavior of the third vehicle.

    SYSTEMS AND METHODS FOR USING A SLIDING WINDOW OF GLOBAL POSITIONING EPOCHS IN VISUAL-INERTIAL ODOMETRY
    5.
    发明申请
    SYSTEMS AND METHODS FOR USING A SLIDING WINDOW OF GLOBAL POSITIONING EPOCHS IN VISUAL-INERTIAL ODOMETRY 审中-公开

    公开(公告)号：WO2018128669A1

    公开(公告)日：2018-07-12

    申请号：PCT/US2017/057889

    申请日：2017-10-23

    Applicant: QUALCOMM INCORPORATED

    Inventor： RAMANANDAN, Arvind ,  CHARI, Murali ,  CHEN, Yiming ,  JOSHI, Avdhut ,  LIMA, John Steven

    IPC: G01S19/45 ,  G01S11/12

    CPC classification number: G01S19/45 ,  G01S11/12 ,  G01S19/47 ,  G01S19/52 ,  G01S19/53

    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.

    OCCUPANCY MAPPING FOR AUTONOMOUS CONTROL OF A VEHICLE
    6.
    发明申请
    OCCUPANCY MAPPING FOR AUTONOMOUS CONTROL OF A VEHICLE 审中-公开

    公开(公告)号：WO2023009907A1

    公开(公告)日：2023-02-02

    申请号：PCT/US2022/072547

    申请日：2022-05-25

    Applicant: QUALCOMM INCORPORATED

    Inventor： SLOBODYANYUK, Volodimir ,  JOSHI, Avdhut ,  SUBRAMANIAN, Sundar

    IPC: G06V10/62 ,  G06V10/764 ,  G06V20/58 ,  G01S13/931

    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.

    OCCUPANCY CLUSTERING ACCORDING TO RADAR DATA
    7.
    发明申请
    OCCUPANCY CLUSTERING ACCORDING TO RADAR DATA 审中-公开

    公开(公告)号：WO2022212970A1

    公开(公告)日：2022-10-06

    申请号：PCT/US2022/070438

    申请日：2022-01-31

    Applicant: QUALCOMM INCORPORATED

    Inventor： SLOBODYANYUK, Volodimir ,  JOSHI, Avdhut ,  SUBRAMANIAN, Sundar

    IPC: G01S13/931 ,  G01S13/89 ,  G01S17/89 ,  G01S17/931 ,  G01S2013/9316 ,  G01S2013/9323 ,  G05D1/0242 ,  G05D1/0268

    Abstract: In some aspects, a device may receive, from a radar scanner or a LIDAR scanner of a vehicle, point data that identifies a first point and a second point. The device may receive grid information that identifies cells of a grid that is associated with mapping a physical environment of the vehicle. The device may designate, based on determining that a distance between the first point and the second point satisfies a distance threshold, a subset of the cells as an occupied cluster that is associated with the first point and the second point. The device may perform an action associated with the vehicle based on location information associated with the occupied cluster. Numerous other aspects are described.

    STATIC OCCUPANCY TRACKING
    9.
    发明申请
    STATIC OCCUPANCY TRACKING 审中-公开

    公开(公告)号：WO2022159331A1

    公开(公告)日：2022-07-28

    申请号：PCT/US2022/012368

    申请日：2022-01-13

    Applicant: QUALCOMM INCORPORATED

    Inventor： UNNIKRISHNAN, Jayakrishnan ,  Y NADARAAJAN, Yoga ,  JOSHI, Avdhut

    IPC: G06V20/58 ,  G06V10/44 ,  G05D1/02

    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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