Nvidia Corporation

Berta Rodriguez Hervas

David Nister

Minwoo Park

Neda Cvijetic

Junghyun Kwon

Trung Pham

Hae-Jong Seo

Hang Dou

Sangmin Oh

Dongwoo Lee

Igor Tryndin

Sayed Mehdi Sajjadi Mohammadabadi

Wenchao Zheng

Tae Eun Choe

Mehmet K Kocamaz

Nizar Assaf

Kexuan Zou

Hsin-I Chen

In various examples, live perception from sensors of a vehicle may be leveraged to detect and classify intersections in an environment of a vehicle in real-time or near real-time. For example, a deep neural network (DNN) may be trained to compute various outputs—such as bounding box coordinates for intersections, intersection coverage maps corresponding to the bounding boxes, intersection attributes, distances to intersections, and/or distance coverage maps associated with the intersections. The outputs may be decoded and/or post-processed to determine final locations of, distances to, and/or attributes of the detected intersections.

Intersection detection and classification in autonomous machine applications

A neural network may be used to determine corner points of a skewed polygon (e.g., as displacement values to anchor box corner points) that accurately delineate a region in an image that defines a parking space. Further, the neural network may output confidence values predicting likelihoods that corner points of an anchor box correspond to an entrance to the parking spot. The confidence values may be used to select a subset of the corner points of the anchor box and/or skewed polygon in order to define the entrance to the parking spot. A minimum aggregate distance between corner points of a skewed polygon predicted using the CNN(s) and ground truth corner points of a parking spot may be used simplify a determination as to whether an anchor box should be used as a positive sample for training.

Object detection using skewed polygons suitable for parking space detection

In various examples, a multi-sensor fusion machine learning model—such as a deep neural network (DNN)—may be deployed to fuse data from a plurality of individual machine learning models. As such, the multi-sensor fusion network may use outputs from a plurality of machine learning models as input to generate a fused output that represents data from fields of view or sensory fields of each of the sensors supplying the machine learning models, while accounting for learned associations between boundary or overlap regions of the various fields of view of the source sensors. In this way, the fused output may be less likely to include duplicate, inaccurate, or noisy data with respect to objects or features in the environment, as the fusion network may be trained to account for multiple instances of a same object appearing in different input representations.

Sensor fusion for autonomous machine applications using machine learning

In various examples, live perception from sensors of a vehicle may be leveraged to detect and classify intersection contention areas in an environment of a vehicle in real-time or near real-time. For example, a deep neural network (DNN) may be trained to compute outputs—such as signed distance functions—that may correspond to locations of boundaries delineating intersection contention areas. The signed distance functions may be decoded and/or post-processed to determine instance segmentation masks representing locations and classifications of intersection areas or regions. The locations of the intersections areas or regions may be generated in image-space and converted to world-space coordinates to aid an autonomous or semi-autonomous vehicle in navigating intersections according to rules of the road, traffic priority considerations, and/or the like.

Intersection region detection and classification for autonomous machine applications

In various examples, a three-dimensional (3D) intersection structure may be predicted using a deep neural network (DNN) based on processing two-dimensional (2D) input data. To train the DNN to accurately predict 3D intersection structures from 2D inputs, the DNN may be trained using a first loss function that compares 3D outputs of the DNN—after conversion to 2D space—to 2D ground truth data and a second loss function that analyzes the 3D predictions of the DNN in view of one or more geometric constraints—e.g., geometric knowledge of intersections may be used to penalize predictions of the DNN that do not align with known intersection and/or road structure geometries. As such, live perception of an autonomous or semi-autonomous vehicle may be used by the DNN to detect 3D locations of intersection structures from 2D inputs.

Three-dimensional intersection structure prediction for autonomous driving applications

In various examples, perception-based parking assistance systems and methods for an ego-machine are presented. Example embodiments may determine a location of a real-world parking strip relative to an ego-machine and an associated parking rule for the parking strip. A virtual parking strip and one or more virtual parking signs may be generated based at least in part on one or more detected features in an environment of the ego-machine and a tracked motion of the ego machine, and the virtual parking strip may be used to track parking strip locations and associated parking rules. The virtual parking strips and associated rules may be relied upon by an ego-machine to determine parking locations and/or to navigate into a suitable parking spot.

Perception-based parking assistance for autonomous machine systems and applications

In various examples, live perception from sensors of a vehicle may be leveraged to generate potential paths for the vehicle to navigate an intersection in real-time or near real-time. For example, a deep neural network (DNN) may be trained to compute various outputs—such as heat maps corresponding to key points associated with the intersection, vector fields corresponding to directionality, heading, and offsets with respect to lanes, intensity maps corresponding to widths of lanes, and/or classifications corresponding to line segments of the intersection. The outputs may be decoded and/or otherwise post-processed to reconstruct an intersection—or key points corresponding thereto—and to determine proposed or potential paths for navigating the vehicle through the intersection.

Intersection pose detection in autonomous machine applications

In various examples, a multi-sensor fusion machine learning model&#x2014;such as a deep neural network (DNN)&#x2014;may be deployed to fuse data from a plurality of individual machine learning models. As such, the multi-sensor fusion network may use outputs from a plurality of machine learning models as input to generate a fused output that represents data from fields of view or sensory fields of each of the sensors supplying the machine learning models, while accounting for learned associations between boundary or overlap regions of the various fields of view of the source sensors. In this way, the fused output may be less likely to include duplicate, inaccurate, or noisy data with respect to objects or features in the environment, as the fusion network may be trained to account for multiple instances of a same object appearing in different input representations.

In various examples, live perception from sensors of a vehicle may be leveraged to detect and classify intersections in an environment of a vehicle in real-time or near real-time. For example, a deep neural network (DNN) may be trained to compute various outputs&#x2014;such as bounding box coordinates for intersections, intersection coverage maps corresponding to the bounding boxes, intersection attributes, distances to intersections, and/or distance coverage maps associated with the intersections. The outputs may be decoded and/or post-processed to determine final locations of, distances to, and/or attributes of the detected intersections.

In various examples, live perception from sensors of a vehicle may be leveraged to detect and classify intersection contention areas in an environment of a vehicle in real-time or near real-time. For example, a deep neural network (DNN) may be trained to compute outputs&#x2014;such as signed distance functions&#x2014;that may correspond to locations of boundaries delineating intersection contention areas. The signed distance functions may be decoded and/or post-processed to determine instance segmentation masks representing locations and classifications of intersection areas or regions. The locations of the intersections areas or regions may be generated in image-space and converted to world-space coordinates to aid an autonomous or semi-autonomous vehicle in navigating intersections according to rules of the road, traffic priority considerations, and/or the like.

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San Francisco, CA, United States of America

Berta Rodriguez Hervas