公开(公告)号：US20190049580A1

公开(公告)日：2019-02-14

申请号：US16014013

申请日：2018-06-21

Applicant: Intel IP Corporation

Inventor： Koba NATROSHVILI ,  Klaus UHL

IPC: G01S17/02 ,  B60W40/04 ,  B60W40/10 ,  G01S17/93 ,  G01S19/42

Abstract: A perception device including a receiver configured to receive sensor information including information about a location of one or more objects detected by a sensor; a memory configured to store an occupancy grid of a predetermined region, wherein the occupancy grid includes a plurality of grid cells, wherein each grid cell represents an area in the predetermined region, wherein at least one grid cell of the plurality of grid cells is associated with a respective single occupancy hypothesis; a single occupancy hypothesis determiner configured to determine a single occupancy hypothesis; wherein the single occupancy hypothesis includes degree of belief of occupancy of the grid cell depending on the sensor information; wherein a contribution of a sensor information value to the degree of belief of occupancy substantially decreases with an increase of a distance of the location of the object detected by the sensor from a center of the grid cell.

公开(公告)号：US20190049239A1

公开(公告)日：2019-02-14

申请号：US15854866

申请日：2017-12-27

Applicant: Intel IP Corporation

Inventor： Koba NATROSHVILI ,  Kay-Ulrich SCHOLL

IPC: G01B11/25 ,  G06K9/00 ,  G01N15/10

CPC classification number: G01B11/2513 ,  G01N15/10 ,  G01N2015/1075 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/00838

Abstract: An occupancy grid object determining device is provided, which may include a grid generator configured to generate an occupancy grid of a predetermined region, the occupancy grid including a plurality of grid cells and at least some of the grid cells having been assigned an information about the occupancy of the region represented by the respective grid cell, a determiner configured to determine at least one object in the occupancy grid wherein the at least one object includes a plurality of grid cells, and a remover configured to remove occupancy information from at least one grid cell of the plurality of grid cells of the determined object.

公开(公告)号：US20190051016A1

公开(公告)日：2019-02-14

申请号：US15854863

申请日：2017-12-27

Applicant: Intel IP Corporation

Inventor： Koba NATROSHVILI ,  Okan KÖSE

IPC: G06T7/00 ,  G01P3/36 ,  G06T7/579 ,  G01C22/02

Abstract: A method of image processing is provided. The method may include: determining a candidate tuple from at least two images that are taken at different times, wherein the candidate tuples are determined using at least odometry sensor information. The couple of subsequent images have been detected by a moving image sensor moved by a vehicle. The odometry sensor information is detected by a sensor moved by the vehicle. The method may further include classifying the candidate tuples into a static tuple or a dynamic tuple. The static tuple represents a static object within the couple of subsequent images, and the dynamic tuple represents a moving object within the couple of subsequent images.

公开(公告)号：US20190049252A1

公开(公告)日：2019-02-14

申请号：US15939362

申请日：2018-03-29

Applicant: Intel IP Corporation

Inventor： Koba NATROSHVILI

IPC: G01C21/28 ,  G01C21/34

Abstract: A method for sensing the position of a vehicle on a three-dimensional map is provided, which may include receiving, from one or more sensors, sensor information about a three-dimensional position of the vehicle; and applying a distributed Kalman filter to the sensor information to determine the position of the vehicle on the three-dimensional map.