发明名称 |
System and method for tracking objects |
摘要 |
Embodiments of a system and method for tracking objects are described herein. Aspects of this disclosure efficiently update object “belief” data by creating a bitmap representation of object locations and velocities. The bitmap provides a three-dimensional representation of the object as viewed by one or more sensors. The bitmap representations are blended with sensor data over time to determine a current object belief state which can accurately account for asynchronous sensor data. Peaks in the belief data, which may be represented by pixels with an intensity value above a threshold value, are identified as likely objects. Additional sensor data is used to detect longitudinal velocities located at one or more of the peaks. |
申请公布号 |
US9563813(B1) |
申请公布日期 |
2017.02.07 |
申请号 |
US201314039313 |
申请日期 |
2013.09.27 |
申请人 |
Google Inc. |
发明人 |
Smith Russell Leigh |
分类号 |
G06K9/00;G06K9/32 |
主分类号 |
G06K9/00 |
代理机构 |
Lerner, David, Littenberg, Krumholz & Mentlik, LLP |
代理人 |
Lerner, David, Littenberg, Krumholz & Mentlik, LLP |
主权项 |
1. A computer-implemented method for tracking objects, the method comprising:
obtaining a set of input from one or more sensors, the sensors being configured to perceive an environment; determining, using one or more processors, a three-dimensional bitmap associated with an environmental state based on the set of input, the three-dimensional bitmap comprising a plurality of pixels; and identifying, using the one or more processors, a position for an object using the three-dimensional bitmap, wherein an intensity of each pixel at a particular coordinate of the bitmap represents a likelihood that the object is at a location within the environment corresponding to the particular coordinate of the three-dimensional bitmap; and controlling a vehicle using an automated driving system based on the position in order to avoid the object. |
地址 |
Mountain View CA US |