US 12,013,244 B2
Intersection pose detection in autonomous machine applications
Trung Pham, Santa Clara, CA (US); Hang Dou, Fremont, CA (US); Berta Rodriguez Hervas, San Francisco, CA (US); Minwoo Park, Saratoga, CA (US); Neda Cvijetic, East Palo Alto, CA (US); and David Nister, Bellevue, WA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Apr. 14, 2020, as Appl. No. 16/848,102.
Claims priority of provisional application 62/839,155, filed on Apr. 26, 2019.
Prior Publication US 2020/0341466 A1, Oct. 29, 2020
Int. Cl. G05D 1/00 (2024.01); G01C 21/26 (2006.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01); G06V 10/44 (2022.01); G06V 10/46 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01); G06F 18/2413 (2023.01); G06N 3/02 (2006.01); G06N 3/044 (2023.01); G06N 3/045 (2023.01); G06N 3/047 (2023.01); G06N 3/048 (2023.01); G06N 3/088 (2023.01); G06N 5/01 (2023.01); G06N 7/01 (2023.01); G06N 20/00 (2019.01); G06N 20/10 (2019.01); G08G 1/16 (2006.01)
CPC G01C 21/26 (2013.01) [G05D 1/0083 (2013.01); G05D 1/0246 (2013.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G06V 10/454 (2022.01); G06V 10/462 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06F 2218/12 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
computing, using one or more neural networks and based at least on image data representative of at least a portion of an intersection in a field of view of an image sensor of a vehicle:
first data representative of first locations of first key points located on a first line segment that represents a first line feature of the intersection and second locations of second key points located on a second line segment that represents a second line feature of the intersection; and
second data representative of a first classification associated with the first line segment and a second classification associated with the second line segment;
determining, based at least on the first classification and the second classification, a first key point of the first key points on the first line segment and a second key point of the second key points on the second line segment;
generating a proposed path through the intersection based at least on connecting the first key point of the first key points to the second key point of the second key points; and
performing one or more operations by the vehicle based at least on the proposed path.