A centroid detection method based on a single-pixel detector, including: S1: establishing a photoelectric detection and acquisition system, and generating three two-dimensional (2D) array matrices A, B and C; S2: generating, by letting element value of each column in the matrix A be the corresponding serial number of the column, element value of each row in the matrix B be the corresponding serial number of the row, and element value of the matrix C be 1, 2D modulation information having distribution of the matrices A, B and C; S3: modulating illumination light according to the mode of the 2D modulation information and projecting the illumination light to a target object or modulating, according to the mode of the 2D modulation information, an image formed by the target object; and S4: acquiring intensity value of target reflected light to obtain position parameter of the target centroid.

Devices, systems, and methods for management of electrical resources for electric vehicles. A method may include receiving, by a vehicle, sensor data indicative of a first luminosity of a location, and determining that the first luminosity of the location exceeds a luminosity threshold. The method may include determining, based on the first luminosity exceeding the luminosity threshold, a second luminosity to apply to lights of the vehicle while the vehicle is at the location, the second luminosity greater than zero. The method may include applying the second luminosity to the lights while the vehicle is at the location.

A spatial recognition device provided with an analysis unit configure to acquire, from an optical device, which is mounted on a moving body and which receives reflected light obtained by radiating light onto a reflective plate provided on a stationary structure positioned within a detection area, reflected light information obtained based on the reflected light in accordance with a radiation direction of the light, and determine a positional relationship between the moving body and the stationary structure on which the reflective plate is provided, based on a distribution of the reflected light information at coordinates within the detection area.

A spatial recognition device provided with an analysis unit configure to acquire, from an optical device, which is mounted on a moving body and which receives reflected light obtained by radiating light onto a reflective plate provided on a stationary structure positioned within a detection area, reflected light information obtained based on the reflected light in accordance with a radiation direction of the light, and determine a positional relationship between the moving body and the stationary structure on which the reflective plate is provided, based on a distribution of the reflected light information at coordinates within the detection area.

An autonomous vehicle (AV) includes a vehicle computing system configured to receive map data of a geographic location, obtain position estimate data of the autonomous vehicle and determine a route of the autonomous vehicle including a plurality of roadways in the plurality of submaps. The autonomous vehicle determines a route including a plurality of roadways, determines a first roadway in the plurality of roadways closest to the position estimate and a second roadway outside the plurality of roadways closest to the position estimate of the autonomous vehicle, and determines a pose relative to the first roadway or the second roadway based on a distance between the position estimate of the autonomous vehicle and a roadway associated with a prior pose of the autonomous vehicle to control travel of the autonomous vehicle based on the vehicle pose.

An autonomous vehicle (AV) includes a vehicle computing system configured to receive map data of a geographic location, obtain position estimate data of the autonomous vehicle and determine a route of the autonomous vehicle including a plurality of roadways in the plurality of submaps. The autonomous vehicle determines a route including a plurality of roadways, determines a first roadway in the plurality of roadways closest to the position estimate and a second roadway outside the plurality of roadways closest to the position estimate of the autonomous vehicle, and determines a pose relative to the first roadway or the second roadway based on a distance between the position estimate of the autonomous vehicle and a roadway associated with a prior pose of the autonomous vehicle to control travel of the autonomous vehicle based on the vehicle pose.

The subject disclosure relates to techniques for detecting an object. A process of the disclosed technology can include steps for receiving three-dimensional (3D) Light Detection and Ranging (LiDAR) data of the object at a first time, generating a first point cloud based on the 3D LiDAR data at the first time, receiving 3D LiDAR data of the object at a second time, generating a second point cloud based on the 3D LiDAR data at the second time, aggregating the first point cloud and the second point cloud to form an aggregated point cloud, and placing a bounding box around the aggregated point cloud. Systems and machine-readable media are also provided.

The subject disclosure relates to techniques for detecting an object. A process of the disclosed technology can include steps for receiving three-dimensional (3D) Light Detection and Ranging (LiDAR) data of the object at a first time, generating a first point cloud based on the 3D LiDAR data at the first time, receiving 3D LiDAR data of the object at a second time, generating a second point cloud based on the 3D LiDAR data at the second time, aggregating the first point cloud and the second point cloud to form an aggregated point cloud, and placing a bounding box around the aggregated point cloud. Systems and machine-readable media are also provided.

An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.

An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.