US 12,073,613 B1
Perception adaptation using probabilistic signal spatio-temporal logic system
Hyukseong Kwon, Thousand Oaks, CA (US); Alexie Pogue, Los Angeles, CA (US); Kevin Lee, Irvine, CA (US); Amir M. Rahimi, Santa Monica, CA (US); Amit Agarwal, San Francisco, CA (US); and Rajan Bhattacharyya, Sherman Oaks, CA (US)
Assigned to HRL LABORATORIES, LLC, Malibu, CA (US)
Filed by HRL Laboratories, LLC, Malibu, CA (US)
Filed on May 12, 2022, as Appl. No. 17/743,356.
Application 17/743,356 is a continuation in part of application No. 17/030,354, filed on Sep. 23, 2020, granted, now 11,334,767.
Application 17/743,356 is a continuation in part of application No. 17/133,345, filed on Dec. 23, 2020, granted, now 11,350,039.
Application 17/030,354 is a continuation in part of application No. 17/030,354, filed on Sep. 23, 2020, granted, now 11,334,767.
Claims priority of provisional application 63/188,947, filed on May 14, 2021.
Claims priority of provisional application 62/984,713, filed on Mar. 3, 2020.
Claims priority of provisional application 62/905,059, filed on Sep. 24, 2019.
Int. Cl. G06V 10/98 (2022.01); G06F 17/11 (2006.01)
CPC G06V 10/98 (2022.01) [G06F 17/11 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A system for adapting to perception errors in object detection and recognition, the system comprising:
one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when executed, the one or more processors perform operations of:
receiving, with a perception module, perception data from an environment proximate a mobile platform, the perception data reflecting one or more objects in the environment;
generating a plurality of perception probes from the perception data, wherein the plurality of perception probes represent perception characteristics of one or more object detections in the set of perception data;
using the plurality of perception probes, generating a plurality of spatial logic-based constraints;
using the plurality of perception probes, generating a plurality of temporal logic-based constraints;
determining spatial perception parameters by solving an optimization problem using a set of the plurality of spatial logic-based constraints;
determining temporal perception parameters by solving an optimization problem using a set of the plurality of temporal logic-based constraints;
combining the spatial perception parameters and the temporal perception parameters to estimate a final perception parameter;
adjusting the perception module based on the final perception parameter;
producing instantaneous detection outputs; and
producing temporal tracking outputs based on a probabilistic boundary for discerning between a valid sequence of object detections and an erroneous sequence of object detections.