Abstract: Disclosed are techniques for performing object detection and tracking. In some implementations, a process for performing object detection and tracking is provided. The process can include steps for obtaining, at a tracking object, an image comprising a target object, obtaining, at the tracking object, a first set of messages associated with the target object, determining a bounding box for the target object in the image based on the first set of messages associated with the target object, and extracting a sub-image from the image. In some approaches, the process can further include steps for detecting, using an object detection model, a location of the target object within the sub-image. Systems and machine-readable media are also provided.

Abstract: Aspects relate to techniques for visual feature sharing between wireless communication devices for relative pose determination. A first wireless communication device may transmit a request for visual feature sharing to a second wireless communication device and in response receive a message from the second wireless communication device including a plurality of features (e.g., keypoints) of an image captured by the second wireless communication device. The first wireless communication device may then calculate a relative pose of the first wireless communication device with respect to the second wireless communication device based on an association between the features provided by the second wireless communication device and additional features obtained from an additional image captured by the first wireless communication device.

Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Abstract: Methods, systems, computer-readable media, and apparatuses for radar or LIDAR measurement are presented. Some configurations include transmitting, via a transceiver, a first beam having a first frequency characteristic; calculating a distance between the transceiver and a moving object based on information from at least one reflection of the first beam; transmitting, via the transceiver, a second beam having a second frequency characteristic that is different than the first frequency characteristic, wherein the second beam is directed such that an axis of the second beam intersects a ground plane; and calculating an ego-velocity of the transceiver based on information from at least one reflection of the second beam. Applications relating to road vehicular (e.g., automobile) use are described.

Abstract: A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.

Abstract: Disclosed are techniques for wireless communication. In particular, aspects relate to configuring, triggering and/or transmitting relative and global position-orientation messages (e.g., from a vehicle equipped with sensors to enable estimation of relative and global position-orientation to a network entity).

Abstract: A wireless device may obtain, from a camera, an image with at least one captured object, which may include a plurality of dimensions. The image may include a 2D projection of the at least one captured object. The wireless device may calculate at least one dimension of the plurality of dimensions of the at least one captured object based on the 2D projection of the at least one captured object. The wireless device may estimate an inverse depth of the plurality of dimensions of the at least one captured object based on information associated with one or more properties of the camera or of at least one reference object associated with the at least one captured object. The wireless device may transmit an indication of the plurality of dimensions of the at least one captured object including the calculated at least one dimension and the estimated inverse depth.

Abstract: In an embodiment, a user equipment (UE) receives, from a fixed reference node, at least one round-trip propagation time (RTT) ranging scheduling message indicating a set of downlink (DL) ranging resource assignments and a set of uplink (UL) ranging resource grants, receives one or more DL ranging signals from the fixed reference node on a first set of resources identified by the set of DL ranging resource assignments, and transmits one or more UL ranging signals to the fixed reference node on a second set of resources identified by the set of UL ranging resource grants.

Abstract: A hybrid approach for using reference frames is presented in which a series of anchor frames is used, effectively resetting a global frame upon a trigger event. With each new anchor frame, parameter values for lane boundary estimates (known as lane boundary states) can be recalculated with respect to the new anchor frame. Triggering events may a based on a length of time, distance traveled, and/or an uncertainty value.

Abstract: Association algorithms of newly-detected lane boundaries to lane boundaries can be made more robust through the use of generated or “dummy” states. Different types of dummy states can be used to identify outlier/erroneous detections and/or new, legitimate lane boundaries. Therefore, depending on a type of dummy state a newly-detected lane boundary is associated with, the newly-detected lane boundary can be ignored, or the associated dummy state can be added to the lane boundary states of the filter.

Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Abstract: Disclosed are techniques for performing object detection and tracking. In some implementations, a process for performing object detection and tracking is provided. The process can include steps for obtaining, at a tracking object, an image comprising a target object, obtaining, at the tracking object, a first set of messages associated with the target object, determining a bounding box for the target object in the image based on the first set of messages associated with the target object, and extracting a sub-image from the image. In some approaches, the process can further include steps for detecting, using an object detection model, a location of the target object within the sub-image. Systems and machine-readable media are also provided.

Abstract: A hybrid approach for using reference frames is presented in which a series of anchor frames is used, effectively resetting a global frame upon a trigger event. With each new anchor frame, parameter values for lane boundary estimates (known as lane boundary states) can be recalculated with respect to the new anchor frame. Triggering events may a based on a length of time, distance traveled, and/or an uncertainty value.

Abstract: Techniques are described herein for allowing one or more vehicles or radar systems in an environment to passively detect radar signals from other vehicles or other radar systems and determine spatial parameters of objects based on the passively received radar signals. A primary vehicle (or user equipment (UE) associated with the primary vehicle) may be configured to receive one or more radar signals from one or more secondary vehicles (or UEs associated with the secondary vehicles). The primary vehicle may be configured to determine one or more spatial parameters of the secondary vehicle based on the passively received radar signals. In some cases, the primary vehicle may receive an indication that identifies at least some communication resources to be used by the secondary vehicle to transmit the radar signals. The primary vehicle may determine one or more driving operations based on determining the spatial parameter.

Abstract: Techniques and systems are provided for determining one or more sizes of one or more objects. For example, a bounding region identifying a first object detected in an image can be obtained. A map including map points can also be obtained. The map points correspond to one or more reference locations in a three-dimensional space. The bounding region identifying the first object can be associated with at least one map point of the map points included in the map. Using the bounding region and the at least one map point, an estimated three-dimensional position and an estimated size of the first object detected in the image can be determined. In some examples, other information can be used to estimate the estimated three-dimensional position and an estimated size of the first object, such as radar information and/or other information.

Abstract: A hybrid approach for using reference frames is presented in which a series of anchor frames is used, effectively resetting a global frame upon a trigger event. With each new anchor frame, parameter values for lane boundary estimates (known as lane boundary states) can be recalculated with respect to the new anchor frame. Triggering events may a based on a length of time, distance traveled, and/or an uncertainty value.

Abstract: Techniques for map-aided satellite selection are provided. An example of a method for determining a location according to the disclosure includes determining a future trajectory of a user equipment, estimating an environment model associated with the future trajectory, determining a plurality of expected navigation satellites based on the future trajectory and the environment model, selecting a set of navigation satellites to use in computing the current location based in part on the plurality of expected navigation satellites, and computing the current location based on the selected set of navigation satellites.

Abstract: Disclosed are systems and techniques for processing range sensor data. For instance, an apparatus can be configured to obtain a plurality of measurements from one or more range sensors, and to determine, based on a sparsity constraint, a plurality of coefficients corresponding to a sparse basis expansion of a global environment model. In some aspects, the apparatus can be further configured to perform operations to determine, based on the global environment model, the plurality of coefficients, and the plurality of measurements, at least one of a linear velocity, an angular velocity, or both, corresponding to a range sensor of the one or more range sensors, wherein the global environment model is based on a sparse basis expansion.

Abstract: A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.