Object detection based on known structures of an environment of an autonomous vehicle

摘要

An autonomous vehicle may be configured to detect objects based on known structures of an environment. The vehicle may be configured to obtain image data from a sensor and be configured to operate in an autonomous mode. The image data may include data indicative of a known structure in the environment. The vehicle may include a computer system. The computer system may determine, based on a first portion of the image data, information indicative of an appearance of the known structure. The computer system may determine, based on a second portion of the image data, information indicative of an appearance of an unknown object in the environment. The computer system may also compare the information indicative of the appearance of the known structure with the information indicative of the appearance of the unknown object and provide instructions to control the vehicle in the autonomous mode based on the comparison.

主权项

1. A method comprising:
operating, by a computer system, at least one sensor on a vehicle to obtain one or more images of a portion of an environment of the vehicle, wherein the vehicle is configured to operate in an autonomous mode, and wherein the portion of the environment includes a road on which the vehicle is traveling; identifying a first portion of the one or more images corresponding to a first region of the road, wherein the first region of the road is unobstructed; identifying a second portion of the one or more images corresponding to a second region of the road; comparing information indicative of the first portion of the one or more images with information indicative of the second portion of the one or more images to determine whether the second region of the road includes an obstruction on the road; and providing, by the computer system, instructions to control the vehicle in the autonomous mode based on comparison.