US 11,841,434 B2
Annotation cross-labeling for autonomous control systems
Anting Shen, Berkeley, CA (US)
Assigned to Tesla, Inc., Austin, TX (US)
Filed by Tesla, Inc., Austin, TX (US)
Filed on Jun. 10, 2022, as Appl. No. 17/806,358.
Application 17/806,358 is a continuation of application No. 16/514,721, filed on Jul. 17, 2019, granted, now 11,361,457.
Claims priority of provisional application 62/701,441, filed on Jul. 20, 2018.
Prior Publication US 2022/0375208 A1, Nov. 24, 2022
Int. Cl. G06K 9/00 (2022.01); G01S 17/86 (2020.01); G06T 7/521 (2017.01); G01S 17/00 (2020.01); G06V 20/10 (2022.01); G01S 17/894 (2020.01); G06V 10/80 (2022.01); G06V 10/776 (2022.01); G06V 20/56 (2022.01); B60W 60/00 (2020.01)
CPC G01S 17/86 (2020.01) [G01S 17/00 (2013.01); G01S 17/894 (2020.01); G06T 7/521 (2017.01); G06V 10/776 (2022.01); G06V 10/809 (2022.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01); B60W 60/001 (2020.02); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining, by a processor, an image of a real-world scene with respect to a first viewpoint of an image sensor, wherein an object is identified in the image and is associated with a first annotation which represents a portion of the image which depicts the object;
obtaining, by the processor, sensor measurements representing the real-world scene in a three-dimensional space captured by a sensor, wherein the sensor is an active sensor which emits sound and/or light;
determining, by the processor, a spatial region in the three-dimensional space which is indicative of the viewpoint of the image sensor with respect to the first annotation which is extended in three-dimensional space, wherein the spatial region represents a subset of the three-dimensional space; and
annotating, by the processor, the second set of sensor measurements with a second annotation which represents a portion of the spatial region which includes the object, wherein the second annotation is identified via searching within the subset of the three-dimensional space.