Image Space Motion Planning Of An Autonomous Vehicle

An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodime...

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Bibliographic Details
Main Authors Martirosyan, Hayk, Kennedy, Ryan David, Zhu, Jack Louis, Bachrach, Abraham Galton, Bry, Adam Parker, Henry, Peter Benjamin
Format Patent
LanguageEnglish
Published 17.08.2023
Subjects
AEROPLANES
AIRCRAFT
AVIATION
CALCULATING
COMPUTING
CONTROLLING
COSMONAUTICS
COUNTING
GYROSCOPIC INSTRUMENTS
HELICOPTERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PERFORMING OPERATIONS
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
REGULATING
SIGNALLING
SURVEYING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TESTING
TRAFFIC CONTROL SYSTEMS
TRANSPORTING
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Summary:An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.
Bibliography:Application Number: US202318162227