Systems, methods, computer-readable media, techniques, and methodologies are disclosed for performing end-to-end, learning-based keypoint detection and association. A scene graph of a signalized intersection is constructed from an input image of the intersection. The scene graph includes detected keypoints and linkages identified between the keypoints. The scene graph can be used along with a vehicle's localization information to identify which keypoint that represents a traffic signal is associated with the vehicle's current travel lane. An appropriate vehicle action may then be determined based on a transition state of the traffic signal keypoint and trajectory information for the vehicle. A control signal indicative of this vehicle action may then be output to cause an autonomous vehicle, for example, to implement the appropriate vehicle action.


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    Title :

    END-TO-END SIGNALIZED INTERSECTION TRANSITION STATE ESTIMATOR WITH SCENE GRAPHS OVER SEMANTIC KEYPOINTS


    Contributors:
    CHEN KUN-HSIN (author) / GONG PEIYAN (author) / PILLAI SUDEEP (author) / BHARGAVA ARJUN (author) / KAKU SHUNSHO (author) / JIN HAI (author) / LEE KUAN-HUI (author)

    Publication date :

    2023-02-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06V / 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



    End-to-end signalized intersection transition state estimator with scene graphs over semantic keypoints

    CHEN KUN-HSIN / GONG PEIYAN / PILLAI SUDEEP et al. | European Patent Office | 2022

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