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1. 发明申请

WO2023067328A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023067328A1
公开(公告)日：2023-04-27
申请号：PCT/GB2022/052653
申请日：2022-10-18
申请人： OXBOTICA LIMITED
发明人： NEWMAN, Paul , AZIZ, Aamir
IPC分类号： G01S13/42 , G01S13/60 , G01S13/89 , G01S13/931 , G01S13/937
摘要： A computer-implemented method of localizing a radar sensor, the method comprising: obtaining a first radar scan of a first environment of the radar sensor, wherein the first radar scan comprises a set of power-range spectra, including a first power-range spectrum; extracting a first set of landmarks, including a first landmark, from the first radar scan, wherein the first landmark is defined by a range and an azimuth; computing a respective first set of descriptors, including a first descriptor, of the first set of landmarks, wherein the first descriptor defines the first landmark by respective relative ranges and azimuths in relation to one or more landmarks included in the first set of landmarks; accessing one or more reference sets of landmarks of respective environments and computing respective reference sets of descriptors of the reference sets of landmarks; matching the first set of descriptors to a corresponding first reference set of descriptors; and localizing a first location of the radar sensor using a first result of the matching.

2. 发明申请

WO2023067327A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023067327A1
公开(公告)日：2023-04-27
申请号：PCT/GB2022/052652
申请日：2022-10-18
申请人： OXBOTICA LIMITED
发明人： NEWMAN, Paul , AZIZ, Aamir
IPC分类号： G01S13/72 , G01S13/931 , G01S7/35 , G01S7/41 , G01S13/34 , G01S13/42
摘要： A computer-implemented method of localizing a radar sensor, the method comprising: obtaining a first radar scan of a first environment of the radar sensor, wherein the first radar scan comprises a set of power-range spectra, including a first power-range spectrum; extracting a first set of landmarks, including a first landmark, from the first radar scan, wherein the first landmark is defined by a range and an azimuth; computing a respective first set of descriptors, including a first descriptor, of the first set of landmarks, wherein the first descriptor defines the first landmark by respective relative ranges and azimuths in relation to one or more landmarks included in the first set of landmarks; accessing one or more reference sets of landmarks of respective environments and computing respective reference sets of descriptors of the reference sets of landmarks; matching the first set of descriptors to a corresponding first reference set of descriptors; and localizing a first location of the radar sensor using a first result of the matching.

3. 发明申请

WO2023062393A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023062393A1
公开(公告)日：2023-04-20
申请号：PCT/GB2022/052639
申请日：2022-10-17
申请人： OXBOTICA LIMITED
发明人： KUUTTI, Sampo , PORAV, Horia , UPCROFT, Ben , NEWMAN, Paul
IPC分类号： G06N3/04 , G06N20/00 , B60W40/04
摘要： A computer-implemented method of generating trajectories of actors, the method comprising: simulating a first scenario comprising an environment having therein an ego-vehicle, a set of actors, including a first actor, and optionally a set of objects, including a first object, wherein simulating the first scenario comprises using a first trajectory of the first actor; observing, by a first adversarial reinforcement learning agent, a first observation of the environment, for example the ego-vehicle, a second actor of the set thereof and/or the first object of the set thereof, in response to the first trajectory of the first actor; and generating, by the first agent, a second trajectory of the first actor based on the observed first observation of the environment.

4. 发明申请

WO2023067330A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023067330A1
公开(公告)日：2023-04-27
申请号：PCT/GB2022/052655
申请日：2022-10-18
申请人： OXBOTICA LIMITED
发明人： NEWMAN, Paul , AZIZ, Aamir , ROBINSON, Neil
IPC分类号： G01S13/42 , G01S13/60 , G01S13/89 , G01S13/931 , G01S13/937
摘要： A computer-implemented method of localizing a radar sensor, the method comprising: obtaining a first radar scan of a first environment of the radar sensor, wherein the first radar scan comprises a set of power-range spectra, including a first power-range spectrum; extracting a first set of landmarks, including a first landmark, from the first radar scan, wherein the first landmark is defined by a range and an azimuth; computing a respective first set of descriptors, including a first descriptor, of the first set of landmarks, wherein the first descriptor defines the first landmark by respective relative ranges and azimuths in relation to one or more landmarks included in the first set of landmarks; accessing one or more reference sets of landmarks of respective environments and computing respective reference sets of descriptors of the reference sets of landmarks; matching the first set of descriptors to a corresponding first reference set of descriptors; and localizing a first location of the radar sensor using a first result of the matching.

5. 发明申请

WO2023062392A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023062392A1
公开(公告)日：2023-04-20
申请号：PCT/GB2022/052636
申请日：2022-10-17
申请人： OXBOTICA LIMITED
发明人： KUUTTI, Sampo , PORAV, Horia , UPCROFT, Ben , NEWMAN, Paul
IPC分类号： G06N3/04 , B60W40/04 , G06N20/00
摘要： A computer-implemented method of generating trajectories of actors, the method comprising: simulating a first scenario comprising an environment having therein an ego-vehicle, a set of actors, including a first actor, and optionally a set of objects, including a first object, wherein simulating the first scenario comprises using a first trajectory of the first actor; observing, by a first adversarial reinforcement learning agent, a first observation of the environment, for example the ego-vehicle, a second actor of the set thereof and/or the first object of the set thereof, in response to the first trajectory of the first actor; and generating, by the first agent, a second trajectory of the first actor based on the observed first observation of the environment.

6. 发明申请

WO2023067326A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023067326A1
公开(公告)日：2023-04-27
申请号：PCT/GB2022/052651
申请日：2022-10-18
申请人： OXBOTICA LIMITED
发明人： NEWMAN, Paul , AZIZ, Aamir
IPC分类号： G01S13/42 , G01S13/60 , G01S13/89 , G01S13/931 , G01S13/937
摘要： A computer-implemented method of localizing a radar sensor, the method comprising: obtaining a first radar scan of a first environment of the radar sensor, wherein the first radar scan comprises a set of power-range spectra, including a first power-range spectrum; extracting a first set of landmarks, including a first landmark, from the first radar scan, wherein the first landmark is defined by a range and an azimuth; computing a respective first set of descriptors, including a first descriptor, of the first set of landmarks, wherein the first descriptor defines the first landmark by respective relative ranges and azimuths in relation to one or more landmarks included in the first set of landmarks; accessing one or more reference sets of landmarks of respective environments and computing respective reference sets of descriptors of the reference sets of landmarks; matching the first set of descriptors to a corresponding first reference set of descriptors; and localizing a first location of the radar sensor using a first result of the matching. ]

7. 发明申请

WO2023067325A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023067325A1
公开(公告)日：2023-04-27
申请号：PCT/GB2022/052650
申请日：2022-10-18
申请人： OXBOTICA LIMITED
发明人： NEWMAN, Paul , AZIZ, Aamir
IPC分类号： G01S13/42 , G01S13/931 , G01S13/89 , G01S13/60
摘要： A computer-implemented method of localizing a radar sensor, the method comprising: obtaining a first radar scan of a first environment of the radar sensor, wherein the first radar scan comprises a set of power-range spectra, including a first power-range spectrum; extracting a first set of landmarks, including a first landmark, from the first radar scan, wherein the first landmark is defined by a range and an azimuth; computing a respective first set of descriptors, including a first descriptor, of the first set of landmarks, wherein the first descriptor defines the first landmark by respective relative ranges and azimuths in relation to one or more landmarks included in the first set of landmarks; accessing one or more reference sets of landmarks of respective environments and computing respective reference sets of descriptors of the reference sets of landmarks; matching the first set of descriptors to a corresponding first reference set of descriptors; and localizing a first location of the radar sensor using a first result of the matching.

8. 发明申请

WO2023062394A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023062394A1
公开(公告)日：2023-04-20
申请号：PCT/GB2022/052640
申请日：2022-10-17
申请人： OXBOTICA LIMITED
发明人： KUUTTI, Sampo , PORAV, Horia , UPCROFT, Ben , NEWMAN, Paul
IPC分类号： G06N3/04 , G06N20/00 , B60W40/04
摘要： 52 ABSTRACT METHOD AND APPARATUS A computer-implemented method of generating trajectories of actors, the method comprising: 5 simulating a first scenario comprising an environment having therein an ego-vehicle, a set of actors, including a first actor, and optionally a set of objects, including a first object, wherein simulating the first scenario comprises using a first trajectory of the first actor; observing, by a first adversarial reinforcement learning agent, a first observation of the environment, for example the ego-vehicle, a second actor of the set thereof and/or the first object 10 of the set thereof, in response to the first trajectory of the first actor; and generating, by the first agent, a second trajectory of the first actor based on the observed first observation of the environment. [Fig. 1] 15

9. 发明申请

WO2023062390A1 METHOD AND APPARATUS 审中-公开
公开(公告)号：WO2023062390A1
公开(公告)日：2023-04-20
申请号：PCT/GB2022/052630
申请日：2022-10-17
申请人： OXBOTICA LIMITED
发明人： PORAV, Horia , UPCROFT, Ben , NEWMAN, Paul
IPC分类号： G06T3/00 , G06T7/00 , G06T11/00
摘要： A computer-implemented method of generating training data, the method comprising: providing a representation of an environment, wherein the representation of the environment has a defined structure and/or a defined geometry; and generating the training data comprising a set of transformed representations, including a first transformed representation, of the environment by transforming the representation of the environment to the set of transformed representations, including the first transformed representation, of the environment; wherein providing the representation of the environment comprises synthesizing, at least in part, an image of the environment using semantic information.

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