Method and a system for hierarchical network based diverse trajectory proposal

US11526174B2 · kind B2 · utility

Assignee

• Tata Consultancy Services Limited · IN

Inventors

• Brojeshwar Bhowmick · Sherghati, IN
• Krishnam Madhava Krishna · Hyderabad, IN
• Sriram Narayanan · Richardson, US
• Gourav Kumar · Ludhiana, IN
• Abhay Pratap Singh · Hyderabad, IN
• Siva Karthik Mustikovela · Lowell, US
• Saket Saurav · Hyderabad, IN

Key dates

• Filing date: Jun 5, 2020
• Grant date: Dec 13, 2022
• Expiry date: May 13, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G06N7/01
• WIPO field: Control
• WIPO sector: Instruments

Abstract

The disclosure herein generally relates to the field of autonomous navigation, and, more particularly, to a diverse trajectory proposal for autonomous navigation. The embodiment discloses a hierarchical network based diverse trajectory proposal for autonomous navigation. The hierarchical 2-stage neural network architecture maps the perceived surroundings to diverse trajectories in the form of trajectory waypoints, that an autonomous navigation system can choose to navigate/traverse. The first stage of the disclosed hierarchical 2-stage Neural Network architecture is a Trajectory Proposal Network which generates a set of diverse traversable regions in an environment which can be occupied by the autonomous navigation system in the future. The second stage is a Trajectory Sampling network which predicts a fine-grained trajectory/trajectory waypoint over the diverse traversable regions proposed by Trajectory Proposal Network.