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1. WO2018148574 - AGENT NAVIGATION USING VISUAL INPUTS

Publication Number WO/2018/148574
Publication Date 16.08.2018
International Application No. PCT/US2018/017666
International Filing Date 09.02.2018
IPC
G06T 7/00 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
G05B 13/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
G06T 1/40 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
1General purpose image data processing
20Processor architectures; Processor configuration, e.g. pipelining
40Neural networks
CPC
G01C 21/32
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
G05B 13/027
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
0265the criterion being a learning criterion
027using neural networks only
G06T 11/60
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
112D [Two Dimensional] image generation
60Editing figures and text; Combining figures or text
G06T 2207/10016
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10016Video; Image sequence
G06T 2207/20081
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20081Training; Learning
G06T 2207/20084
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20084Artificial neural networks [ANN]
Applicants
  • GOOGLE LLC [US]/[US]
Inventors
  • SUKTHANKAR, Rahul
  • GUPTA, Saurabh
  • DAVIDSON, James Christopher
  • LEVINE, Sergey Vladimir
  • MALIK, Jitendra
Agents
  • PORTNOV, Michael
Priority Data
62/456,94509.02.2017US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) AGENT NAVIGATION USING VISUAL INPUTS
(FR) NAVIGATION D'AGENT À L'AIDE D'ENTRÉES VISUELLES
Abstract
(EN) Methods, systems, and apparatus, including computer programs encoded on computer storage media, for navigation using visual inputs. One of the systems includes a mapping subsystem configured to, at each time step of a plurality of time steps, generate a characterization of an environment from an image of the environment at the time step, wherein the characterization comprises an environment map identifying locations in the environment having a particular characteristic, and wherein generating the characterization comprises, for each time step: obtaining the image of the environment at the time step, processing the image to generate a first initial characterization for the time step, obtaining a final characterization for a previous time step, processing the characterization for the previous time step to generate a second initial characterization for the time step, and combining the first initial characterization and the second initial characterization to generate a final characterization for the time step.
(FR) La présente invention concerne des procédés, des systèmes et un appareil, qui comprennent des programmes informatiques codés sur des supports de stockage informatiques, pour la navigation à l'aide d'entrées visuelles. L'un des systèmes comprend un sous-système de cartographie configuré pour, à chaque étape temporelle d'une pluralité d'étapes temporelles, générer une caractérisation d'un environnement à partir d'une image de l'environnement à l'étape temporelle, la caractérisation comprenant une carte d'environnement qui identifie des emplacements dans l'environnement qui présentent une caractéristique particulière, et la génération de la caractérisation comprenant, pour chaque étape temporelle : l'obtention de l'image de l'environnement à l'étape temporelle, le traitement de l'image pour générer une première caractérisation initiale pour l'étape temporelle, l'obtention d'une caractérisation finale pour une étape temporelle précédente, le traitement de la caractérisation pour l'étape temporelle précédente pour générer une seconde caractérisation initiale pour l'étape temporelle, et la combinaison de la première caractérisation initiale et de la seconde caractérisation initiale pour générer une caractérisation finale pour l'étape temporelle.
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