US 11,783,636 B2
System and method for detecting abnormal passenger behavior in autonomous vehicles
Yumi Kondo, San Jose, CA (US); Ryan Burt, San Jose, CA (US); Krishnan Bharath Navalpakkam, San Jose, CA (US); Alexander Hirsch, Gross-Rohrheim (DE); Naveen Ramakrishnan, Campbell, CA (US); Filipe Goncalves, Braga (PT); Stefan Weissert, Detroit, MI (US); Jayanta Kumar Dutta, Sunnyvale, CA (US); and Ravi Kumar Satzoda, Sunnyvale, CA (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jun. 15, 2021, as Appl. No. 17/347,692.
Application 17/347,692 is a continuation of application No. 16/716,580, filed on Dec. 17, 2019, granted, now 11,132,585.
Prior Publication US 2021/0312238 A1, Oct. 7, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 10/84 (2022.01); G06V 40/20 (2022.01); G06V 20/59 (2022.01); G06F 18/214 (2023.01); G06F 18/23 (2023.01)
CPC G06V 40/23 (2022.01) [G06F 18/2155 (2023.01); G06F 18/23 (2023.01); G06V 10/84 (2022.01); G06V 20/59 (2022.01); G06V 20/597 (2022.01); G06V 40/20 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method for detecting abnormal passenger behavior in a vehicle, the method comprising:
receiving, with a processing system, a first image frame of at least one passenger in a cabin of the vehicle from an image sensor;
determining, with the processing system, based on the first image frame, a first numerical vector representing a pose and a motion of the at least one passenger in the first image frame, the determining the first numerical vector including determining, with the processing system, a respective plurality of key points for each of the at least one passenger, each key point including a coordinate pair corresponding to a position of a respective joint or body part of the at least one passenger within the first image frame; and
detecting, with the processing system, based on the first numerical vector, abnormal passenger behavior in the first image frame using a mixture model having a plurality of cluster components representing normal passenger behaviors.