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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11948381 B1

PDFFull Text
Date of Patent:
Apr. 02, 2024

Filed:

Aug. 20, 2021

Determining object mobility parameters using an object sequence

Applicant:

Motional Ad Llc, Boston, MA (US);

Inventors:

Varun Bankiti, Los Angeles, CA (US);

Oscar Beijbom, Santa Monica, CA (US);

Tianwei Yin, Austin, TX (US);

Assignee:

Motional AD LLC, Boston, MA (US);

Attorney:

Knobbe, Martens, Olson & Bear, LLP

Primary Examiner:

Mahendra R Patel

Int. Cl.
CPC ...
G06V 30/262 (2022.01); B60W 60/00 (2020.01); G01S 17/42 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01); G06F 18/21 (2023.01); G06T 7/10 (2017.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01);
U.S. Cl.
CPC ...
G06V 30/274 (2022.01); G01S 17/42 (2013.01); G01S 17/58 (2013.01); G01S 17/89 (2013.01); G06F 18/21 (2023.01); G06T 7/10 (2017.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); B60W 60/001 (2020.02); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/404 (2020.02); G06T 2207/20084 (2013.01); G06T 2207/30261 (2013.01);
Abstract

A system can use semantic images, lidar images, and/or 3D bounding boxes to determine mobility parameters for objects in the semantic image. In some cases, the system can generate virtual points for an object in a semantic image and associate the virtual points with lidar points to form denser point clouds for the object. The denser point clouds can be used to estimate the mobility parameters for the object. In certain cases, the system can use semantic images, lidar images, and/or 3D bounding boxes to determine an object sequence for an object. The object sequence can indicate a location of the particular object at different times. The system can use the object sequence to estimate the mobility parameters for the object.

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