US 12,136,273 B2
Identification of real and image sign detections in driving applications
Maya Kabkab, Mountain View, CA (US); and Yiran Zhang, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Oct. 20, 2021, as Appl. No. 17/451,558.
Prior Publication US 2023/0119634 A1, Apr. 20, 2023
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01); G06F 18/2431 (2023.01)
CPC G06V 20/582 (2022.01) [B60W 60/001 (2020.02); G06F 18/2431 (2023.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2552/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a sensing system of a vehicle, the sensing system configured to:
obtain a combined image comprising a camera image of a region of an environment of the vehicle and a depth information for the region of the environment of the vehicle, wherein the depth information comprises at least one of a lidar data, a radar data, a stereo image data, or an ultrasonic data; and
a perception system of the vehicle, the perception system configured to:
classify a first sign in the combined image as an image-true sign, wherein to classify the first sign as an image-true sign, the perception system is to identify the first sign as a sign whose mirror image corresponds to a valid sign type;
perform a spatial validation of the first sign, the spatial validation comprising evaluation of a spatial relationship of the first sign and one or more objects in the region of the environment of the vehicle; and
identify, based on the performed spatial validation, the first sign as a real sign.