Systems and methods for object detection and motion prediction by fusing multiple sensor sweeps into a range view representation

US11762094B2 · kind B2 · utility

Assignee

• UATC, LLC · US

Inventors

• Ankit Laddha · Pittsburgh, US
• Gregory P. Meyer · Elk Grove Village, US
• Jake Charland · Winter Park, US
• Shivam Gautam · Austin, US
• Shreyash Pandey · Pittsburgh, US
• Carlos Vallespi-Gonzalez · Wexford, US
• Carl Wellington · Pittsburgh, US

Key dates

• Filing date: Nov 6, 2020
• Grant date: Sep 19, 2023
• Expiry date: Nov 4, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30261
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

Systems and methods for detecting objects and predicting their motion are provided. In particular, a computing system can obtain a plurality of sensor sweeps. The computing system can determine movement data associated with movement of the autonomous vehicle. For each sensor sweep, the computing system can generate an image associated with the sensor sweep. The computing system can extract, using the respective image as input to one or more machine-learned models, feature data from the respective image. The computing system can transform the feature data into a coordinate frame associated with a next time step. The computing system can generate a fused image. The computing system can generate a final fused image. The computing system can predict, based, at least in part, on the final fused representation of the plurality of sensors sweeps from the plurality of sensor sweeps, movement associated with the feature data at one or more time steps in the future.