US 12,347,129 B2
Light-based object localization
Bence Cserna, East Boston, MA (US); and Puneet Singhal, Pittsburgh, PA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Mar. 18, 2022, as Appl. No. 17/697,968.
Prior Publication US 2023/0298198 A1, Sep. 21, 2023
Int. Cl. G06T 7/70 (2017.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC G06T 7/70 (2017.01) [B60W 60/0027 (2020.02); B60W 50/14 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2555/20 (2020.02); B60W 2556/35 (2020.02); G06T 2200/04 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining, using at least one processor, sensor data associated with an environment in which an autonomous vehicle is operating;
identifying, using the at least one processor, at least one light source in the environment based on the sensor data;
determining, using the at least one processor, scene data based on the sensor data associated with the environment, wherein the scene data includes one or more predetermined light sources in the environment;
determining, using the at least one processor, whether the at least one light source corresponds to at least one of the one or more predetermined light sources associated with the scene data;
in response to determining that the at least one light source does not correspond to at least one of the one or more predetermined light sources, identifying, using the at least one processor, the at least one light source as at least one unexpected light source in the environment;
identifying, using the at least one processor, an agent in the environment based on the at least one unexpected light source;
generating, using the at least one processor, a trajectory for the autonomous vehicle based on the identified agent; and
controlling operation of the autonomous vehicle based on the generated trajectory.