Abstract: Operations may comprise obtaining a plurality of light detection and ranging (LIDAR) scans of a region. The operations may also comprise identifying a plurality of LIDAR poses that correspond to the plurality of LIDAR scans. In addition, the operations may comprise identifying, as a plurality of keyframes, a plurality of images of the region that are captured during capturing of the plurality of LIDAR scans. The operations may also comprise determining, based on the plurality of LIDAR poses, a plurality of camera poses that correspond to the keyframes. Further, the operations may comprise identifying a plurality of two-dimensional (2D) keypoints in the keyframes. The operations also may comprise generating one or more three-dimensional (3D) keypoints based on the plurality of 2D keypoints and the respective camera poses of the plurality of keyframes.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath pipeline is provided. The datapath pipeline includes multiple stages for performing various data-plane packet-processing operations at the edge of the network. The processing stages include centralized routing stages and distributed routing stages. The processing stages can include service-providing stages such as NAT and firewall. The gateway caches the result previous packet operations and reapplies the result to subsequent packets that meet certain criteria. For packets that do not have applicable or valid result from previous packet processing operations, the gateway datapath daemon executes the pipelined packet processing stages and records a set of data from each stage of the pipeline and synthesizes those data into a cache entry for subsequent packets.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: Some embodiments provide a method for configuring a logical router that interfaces with an external network. The method receives a configuration for a logical network that includes a logical router with several interfaces that connect to at least one physical router external to the logical network. The method selects a separate host machine to host a centralized routing component for each of the interfaces. The method selects a particular one of the host machines for operating a dynamic routing protocol control plane that receives routing protocol data from each of the centralized routing components and updates routing tables of each of the centralized routing components.

Abstract: Some embodiments provide a network system. The network system includes a first set of host machines for hosting virtual machines that connect to each other through a logical network. The first set of host machines includes managed forwarding elements for forwarding data between the host machines. The network system includes a second set of host machines for hosting virtualized containers that operate as gateways for forwarding data between the virtual machines and an external network. At least one of the virtualized containers peers with at least one physical router in the external network in order to advertise addresses of the virtual machines to the physical router.

Abstract: Some embodiments provide a system for implementing a logical network that includes a set of end machines, a first logical middlebox, and a second logical middlebox connected by a set of logical forwarding elements. The system includes a set of nodes. Each of several nodes includes (i) a virtual machine for implementing an end machine of the logical network, (ii) a managed switching element for implementing the set of logical forwarding elements of the logical network, and (iii) a middlebox element for implementing the first logical middlebox of the logical network. The system includes a physical middlebox appliance for implementing the second logical middlebox.

Abstract: Some embodiments provide a method for configuring a logical middlebox in a hosting system that includes a set of nodes. The logical middlebox is part of a logical network that includes a set of logical forwarding elements that connect a set of end machines. The method receives a set of configuration data for the logical middlebox. The method uses a stored set of tables describing physical locations of the end machines to identify a set of nodes at which to implement the logical middlebox. The method provides the logical middlebox configuration for distribution to the identified nodes.

Abstract: Some embodiments provide a method for configuring a logical router that interfaces with an external network. The method receives a configuration for a logical network that includes a logical router with several interfaces that connect to at least one physical router external to the logical network. The method selects a separate host machine to host a centralized routing component for each of the interfaces. The method selects a particular one of the host machines for operating a dynamic routing protocol control plane that receives routing protocol data from each of the centralized routing components and updates routing tables of each of the centralized routing components.

Abstract: Some embodiments provide a network system. The network system includes a first set of host machines for hosting virtual machines that connect to each other through a logical network. The first set of host machines includes managed forwarding elements for forwarding data between the host machines. The network system includes a second set of host machines for hosting virtualized containers that operate as gateways for forwarding data between the virtual machines and an external network. At least one of the virtualized containers peers with at least one physical router in the external network in order to advertise addresses of the virtual machines to the physical router.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath daemon is provided. The datapath daemon is a run-to-completion process that performs various data-plane packet-processing operations at the edge of the network. The datapath daemon dispatches packets to other processes or processing threads outside of the daemon by utilizing a user space network stack.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: Disclosed are a method and apparatus for estimating a rotor position angle of an electric machine, an electric machine control system comprising the apparatus, and a computer-readable storage medium. The method comprises obtaining a back emf of a stator of the electric machine; performing a second-order generalized integrator operation on the back emf, to obtain a signal with a phase lag of 90 degrees with respect to the back emf; dividing the phase-lagging signal by a resonant frequency of the back emf to obtain a stator flux linkage of the stator, then subtracting an inductive magnetic flux of the stator from the stator flux linkage to obtain a rotor flux linkage; and computing a rotor position angle based on the rotor flux linkage.

Abstract: Some embodiments provide a method for handling failure at one of several peer centralized components of a logical router. At a first one of the peer centralized components of the logical router, the method detects that a second one of the peer centralized components has failed. In response to the detection, the method automatically identifies a network layer address of the failed second peer. The method assumes responsibility for data traffic to the failed peer by broadcasting a message on a logical switch that connects all of the peer centralized components and a distributed component of the logical router. The message instructs recipients to associate the identified network layer address with a data link layer address of the first peer centralized component.

Abstract: A network system that includes a first set of network hosts in a first domain and a second set of network hosts in a second domain. Within each of the domains, the system includes several edge switching elements (SEs) that each couple to the network hosts and forward network data to and from the set of network hosts. Within the first domain, the system includes (i) an interior SE that couples to a particular edge SE in order to receive network data for forwarding from the edge SE when the edge SE does not recognize a destination location of the network data and (ii) an interconnection SE that couples to the interior SE, the edge SE, and the second domain through an external network. When the edge SE receives network data with a destination address in the second domain, it forwards the network data directly to the interconnection SE.

Abstract: According to an aspect of an embodiment, operations may comprise accessing high definition (HD) map data of a region, presenting, via a user interface, information describing the HD map data, receiving instructions, via the user interface, for modifying the HD map data by adding one or more synthetic objects to locations in the HD map data, modifying the HD map data based on the received instructions, and generating a synthetic track in the modified HD map data comprising, for each of one or more vehicle poses, generated synthetic sensor data based on the one or more synthetic objects in the modified HD map data.

Abstract: Some embodiments provide a method for providing dynamic host configuration protocol (DHCP) services to different data compute nodes (e.g., virtual machines) that belong to different logical networks (e.g., for different tenants in a datacenter). In some embodiments, the method inserts a logical network identifier (LNI) value to each DHCP packet and forwards the packet to a DHCP server module for processing the DHCP request. Based on the LNI value, the DHCP server of some embodiments identifies the logical network from which the DHCP packet is received. The DHCP server then provides the requested DHCP service (e.g., assigning an IP address to a data compute node that has originated the DHCP packet, assigning a domain name, etc.) according to a DHCP service configuration for the identified logical network.

Abstract: Camera based localization performed to determine a current pose of an autonomous vehicle without the aid of depth sensors such as LiDAR. The vehicle comprises an imaging system configured to capture image frames depicting portions of the surrounding area. Based on an initial pose of the vehicle, edgels corresponding to three-dimensional locations are loaded and mapped to corresponding edge pixels of the captured image frame. A pose of the vehicle is optimized based upon the determined correspondences by identifying a transformation that minimizes a distance between the edgels and their corresponding edge pixels. The determined transformation can be applied to the initial pose to determine an updated pose of the vehicle.

Abstract: Some embodiments provide a system for implementing a logical network that includes a set of end machines, a first logical middlebox, and a second logical middlebox connected by a set of logical forwarding elements. The system includes a set of nodes. Each of several nodes includes (i) a virtual machine for implementing an end machine of the logical network, (ii) a managed switching element for implementing the set of logical forwarding elements of the logical network, and (iii) a middlebox element for implementing the first logical middlebox of the logical network. The system includes a physical middlebox appliance for implementing the second logical middlebox.