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.:
Date of Patent:
Aug. 25, 2026
Filed:
Sep. 20, 2023
Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US);
Rohit Gupta, Santa Clara, CA (US);
Qi Chen, San Jose, CA (US);
TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US);
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
Systems and methods are provided that implement two-stage three-dimensional (3D) object detection, which includes a distinct fusion of radar data and camera data. The radar data includes a four-dimensional (4D) millimeter-wave (MMW) radar point cloud, and the camera data includes a high-resolution image in the two-dimensional space (2D). Thereafter, a 3D ROI proposal is fused with 2D image data generating a 2D proposal projection. The 2D proposal projection comprises proposals that predict the position of objects in the high-resolution image. In some cases, proposals in the 2D proposal projection correspond to anchors in the 3D ROI proposal. Then, 2D object detection results are fused with the 3D ROI proposal to generate 3D object detection results. Two-stage 3D object detection allows vehicles to detect objects in a 3D space of the driving environment to navigate safely, avoid obstacles, and respond to dynamic changes in the surrounding environment while operating autonomously.