A deep neural network(s) (DNN) may be used to detect objects from sensor data of a three dimensional (3D) environment. For example, a multi-view perception DNN may include multiple constituent DNNs or stages chained together that sequentially process different views of the 3D environment. An example DNN may include a first stage that performs class segmentation in a first view (e.g., perspective view) and a second stage that performs class segmentation and/or regresses instance geometry in a second view (e.g., top-down). The DNN outputs may be processed to generate 2D and/or 3D bounding boxes and class labels for detected objects in the 3D environment. As such, the techniques described herein may be used to detect and classify animate objects and/or parts of an environment, and these detections and classifications may be provided to an autonomous vehicle drive stack to enable safe planning and control of the autonomous vehicle.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    SEGMENTATION OF LIDAR RANGE IMAGES


    Beteiligte:
    SMOLYANSKIY NIKOLAI (Autor:in) / OLDJA RYAN (Autor:in) / CHEN KE (Autor:in) / POPOV ALEXANDER (Autor:in) / PEHSERL JOACHIM (Autor:in) / EDEN IBRAHIM (Autor:in) / WEKEL TILMAN (Autor:in) / WEHR DAVID (Autor:in) / BHARGAVA RUCHI (Autor:in) / NISTER DAVID (Autor:in)

    Erscheinungsdatum :

    04.11.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    Segmentation of lidar range images

    SMOLYANSKIY NIKOLAI / OLDJA RYAN / CHEN KE et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    RangeSeg: Range-Aware Real Time Segmentation of 3D LiDAR Point Clouds

    Chen, Tzu-Hsuan / Chang, Tian Sheuan | IEEE | 2022


    Segmentation of Range Images into Planar Regions

    Checchin, P. / Trassoudaine, L. / Alizon, J. et al. | British Library Conference Proceedings | 1997


    Segmentation of 3D Range Images Using Pyramidal Data Structures

    Sabata, B. / Arman, F. / Aggarwal, J. K. | British Library Online Contents | 1993


    TransRVNet: LiDAR Semantic Segmentation With Transformer

    Cheng, Hui-Xian / Han, Xian-Feng / Xiao, Guo-Qiang | IEEE | 2023