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1. 发明授权

US10997435B2 Leveraging obstacle and lane detections to determine lane assignments for objects in an environment 有权
公开(公告)号：US10997435B2
公开(公告)日：2021-05-04
申请号：US16535440
申请日：2019-08-08
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06K9/00 , G06T11/20 , G06T7/12 , G06T7/70
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

2. 发明申请

US20150103183A1 METHOD AND APPARATUS FOR DEVICE ORIENTATION TRACKING USING A VISUAL GYROSCOPE 审中-公开
标题翻译：使用视觉陀螺仪进行设备定位跟踪的方法和装置
公开(公告)号：US20150103183A1
公开(公告)日：2015-04-16
申请号：US14051282
申请日：2013-10-10
申请人： Nvidia Corporation
发明人： Josh Abbott , Jared Heinly , Jim van Welzen
IPC分类号： G06T7/00 , G06T19/00
CPC分类号： H04N5/2621 , G01C11/00 , G01C21/165 , G06T7/248 , G06T7/74 , G06T2207/10016 , G06T2207/30244 , H04N5/23264 , H04N5/23293 , H04N5/272
摘要： A method for tracking device orientation on a portable device is disclosed. The method comprises initializing a device orientation to a sensor orientation, wherein the sensor orientation is based on information from an inertial measurement unit (IMU) sensor. It also comprises initiating visual tracking using a camera on the portable device and capturing a frame. Next, it comprises determining a plurality of visual features in the frame and matching the frame to a keyframe, wherein capture of the keyframe precedes capture of the frame. Subsequently, it comprises computing a rotation amount between the frame and the keyframe. Responsive to a determination that a rotational distance between the frame and the keyframe exceeds a predetermined threshold, promoting the frame to a keyframe status and adding it to a first orientation map and adjusting the frame with all prior captured keyframes.
摘要翻译：公开了一种在便携式设备上跟踪设备取向的方法。该方法包括将装置取向初始化为传感器取向，其中传感器取向基于来自惯性测量单元（IMU）传感器的信息。它还包括使用便携式设备上的相机启动视觉跟踪并捕获帧。接下来，它包括确定帧中的多个视觉特征并将帧与关键帧匹配，其中关键帧的捕获先于帧的捕获。随后，它包括计算帧和关键帧之间的旋转量。响应于确定帧和关键帧之间的旋转距离超过预定阈值，将帧推广到关键帧状态并将其添加到第一方向图并且利用所有先前捕获的关键帧来调整帧。

3. 发明公开

US20240362929A1 OBJECT LANE ASSIGNMENT FOR AUTONOMOUS SYSTEMS AND APPLICATIONS 审中-公开
公开(公告)号：US20240362929A1
公开(公告)日：2024-10-31
申请号：US18767222
申请日：2024-07-09
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06V20/56 , G06T7/12 , G06T7/70 , G06T11/20
CPC分类号： G06V20/588 , G06T7/12 , G06T7/70 , G06T11/20 , G06T2207/20084 , G06T2207/20132 , G06T2207/30256 , G06T2210/12
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

4. 发明授权

US12131556B2 Object fence generation for lane assignment in autonomous machine applications 有权
公开(公告)号：US12131556B2
公开(公告)日：2024-10-29
申请号：US17234475
申请日：2021-04-19
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06T7/12 , G06T7/70 , G06T11/20 , G06V20/56
CPC分类号： G06V20/588 , G06T7/12 , G06T7/70 , G06T11/20 , G06T2207/20084 , G06T2207/20132 , G06T2207/30256 , G06T2210/12
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

5. 发明申请

US20210241005A1 LANE MASK GENERATION FOR AUTONOMOUS MACHINE APPLICATIONS 有权
公开(公告)号：US20210241005A1
公开(公告)日：2021-08-05
申请号：US17234487
申请日：2021-04-19
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06K9/00 , G06T11/20 , G06T7/12 , G06T7/70
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

6. 发明申请

US20210241004A1 OBJECT FENCE GENERATION FOR LANE ASSIGNMENT IN AUTONOMOUS MACHINE APPLICATIONS 有权
公开(公告)号：US20210241004A1
公开(公告)日：2021-08-05
申请号：US17234475
申请日：2021-04-19
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06K9/00 , G06T11/20 , G06T7/12 , G06T7/70
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

7. 发明申请

US20210042535A1 LEVERAGING OBSTACLE AND LANE DETECTIONS TO DETERMINE LANE ASSIGNMENTS FOR OBJECTS IN AN ENVIRONMENT 有权
公开(公告)号：US20210042535A1
公开(公告)日：2021-02-11
申请号：US16535440
申请日：2019-08-08
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06K9/00 , G06T11/20 , G06T7/12 , G06T7/70
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

8. 发明公开

US20240362928A1 OBJECT FENCE GENERATION FOR LANE ASSIGNMENT IN AUTONOMOUS MACHINE APPLICATIONS 审中-公开
公开(公告)号：US20240362928A1
公开(公告)日：2024-10-31
申请号：US18766127
申请日：2024-07-08
申请人： NVIDIA Corporation
发明人： Josh Abbott , Miguel Sainz Serra , Zhaoting Ye , David Nister
IPC分类号： G06V20/56 , G06T7/12 , G06T7/70 , G06T11/20
CPC分类号： G06V20/588 , G06T7/12 , G06T7/70 , G06T11/20 , G06T2207/20084 , G06T2207/20132 , G06T2207/30256 , G06T2210/12
摘要： In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.

9. 发明授权

US09479709B2 Method and apparatus for long term image exposure with image stabilization on a mobile device 有权
标题翻译：用于在移动设备上进行图像稳定的长期图像曝光的方法和装置
公开(公告)号：US09479709B2
公开(公告)日：2016-10-25
申请号：US14051307
申请日：2013-10-10
申请人： NVIDIA Corporation
发明人： Syed Zahir Bokari , Josh Abbott , Jim van Welzen
IPC分类号： H04N5/262 , H04N5/232 , H04N5/272
CPC分类号： H04N5/2621 , G01C11/00 , G01C21/165 , G06T7/248 , G06T7/74 , G06T2207/10016 , G06T2207/30244 , H04N5/23264 , H04N5/23293 , H04N5/272
摘要： A method for displaying a live preview image on a mobile device is disclosed. The method includes computing a history color value and confidence value for each pixel of a sensor of a camera. Further, it includes obtaining a new frame of pixels from the camera. Subsequently, for each pixel in the new frame, the method includes: (a) determining if a pixel color is similar to a corresponding history color value and if a confidence corresponding to a pixel is above a predetermined threshold; (b) if the pixel color is not similar to the history color value and the confidence is above the predetermined threshold, displaying the history color value on the preview when displaying the new frame; and (c) if the pixel color is similar to the history color value or the confidence is below the threshold, displaying the pixel color on the preview instead.
摘要翻译：公开了一种在移动设备上显示实时预览图像的方法。该方法包括计算相机传感器的每个像素的历史颜色值和置信度值。此外，它包括从相机获得新的像素帧。随后，对于新帧中的每个像素，该方法包括：（a）确定像素颜色是否类似于对应的历史色彩值，以及如果与像素相关的置信度高于预定阈值; （b）如果像素颜色与历史色彩值不相似且置信度高于预定阈值，则在显示新帧时在预览上显示历史色彩值; 和（c）如果像素颜色与历史色彩值相似或置信度低于阈值，则在预览上显示像素颜色。

10. 发明申请

US20150103193A1 METHOD AND APPARATUS FOR LONG TERM IMAGE EXPOSURE WITH IMAGE STABILIZATION ON A MOBILE DEVICE 有权
标题翻译：用于移动设备上的图像稳定的长期图像曝光的方法和装置
公开(公告)号：US20150103193A1
公开(公告)日：2015-04-16
申请号：US14051307
申请日：2013-10-10
申请人： NVIDIA Corporation
发明人： Syed Zahir Bokari , Josh Abbott , Jim van Welzen
IPC分类号： H04N5/262 , H04N5/232
CPC分类号： H04N5/2621 , G01C11/00 , G01C21/165 , G06T7/248 , G06T7/74 , G06T2207/10016 , G06T2207/30244 , H04N5/23264 , H04N5/23293 , H04N5/272
摘要： A method for displaying a live preview image on a mobile device is disclosed. The method comprises computing a history color value and confidence value for each pixel of a sensor of a camera on the device. Further, it comprises obtaining a new frame of pixels from the camera. Subsequently, for each pixel in the new frame, the method comprises: (a) determining if a pixel color is similar to a corresponding history color value and if a confidence corresponding to a pixel is above a predetermined threshold; (b) if the pixel color is not similar to the history color value and the confidence is above the predetermined threshold, displaying the history color value on the preview when displaying the new frame; and (c) if the pixel color is similar to the history color value or the confidence is below the threshold, displaying the pixel color on the preview instead.
摘要翻译：公开了一种在移动设备上显示实时预览图像的方法。该方法包括计算设备上相机的传感器的每个像素的历史颜色值和置信度值。此外，它包括从相机获得新的像素帧。随后，对于新帧中的每个像素，该方法包括：（a）确定像素颜色是否类似于对应的历史色彩值，以及如果对应于像素的置信度高于预定阈值; （b）如果像素颜色与历史色彩值不相似且置信度高于预定阈值，则在显示新帧时在预览上显示历史色彩值; 和（c）如果像素颜色与历史色彩值相似或置信度低于阈值，则在预览上显示像素颜色。

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