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Vehicle heading prediction neural network

  • US 10,366,502 B1
  • Filed: 12/09/2016
  • Issued: 07/30/2019
  • Est. Priority Date: 12/09/2016
  • Status: Active Grant
First Claim
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1. A computer-implemented method comprising:

  • receiving, by a first vehicle including on-board sensors, point cloud data representing sensor measurements of electromagnetic radiation reflected off a second vehicle and captured by a first on-board sensor of the first vehicle;

    generating a plurality of different projections of the point cloud data representing the sensor measurements captured by the first on-board sensor, wherein each projection of the plurality of different projections is a mapping of the point cloud data onto a different projection plane of a plurality of projection planes, and wherein each different projection plane represents a different view of the second vehicle;

    providing each of the plurality of different projections of the point cloud data as input to a neural network subsystem trained to receive projections of point cloud data for the second vehicle and to generate one or more second vehicle classifications as an output; and

    receiving, at the output of the neural network subsystem, the one or more second vehicle classifications for the second vehicle, wherein each second vehicle classification indicates a current direction in which the second vehicle is likely to be oriented at a current time in a particular coordinate system.

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