SYSTEMS AND METHODS FOR CAPTURING PASSIVELY-ADVERTISED ATTRIBUTE INFORMATION
Examples disclosed herein may involve a vehicle that is configured to (i) capture sensor data that is representative of a real-world environment in which a vehicle is operating, where at least a portion of the sensor data comprises attribute information that was passively advertised in a machine-detectable form by an agent within the real-world environment, (ii) identify, within the sensor data, the attribute information that was passively advertised by the agent, (iii) based on identifying the attribute information, extract the attribute information that was identified within the sensor data, and (iv) encode the extracted attribute information into a representation of the agent.
1 . A computer-implemented method carried out by a vehicle, the method comprising:
capturing sensor data that is representative of a real-world environment in which the vehicle is operating, wherein at least a portion of the sensor data comprises attribute information that was passively advertised in a machine-detectable form by an agent within the real-world environment;
identifying, within the sensor data, the attribute information that was passively advertised by the agent;
after identifying the attribute information, extracting the attribute information that was identified within the sensor data; and
encoding the extracted attribute information into a representation of the agent.
2 . The computer-implemented method of claim 1 , further comprising:
based on the sensor data, deriving additional attribute information for the agent; and
encoding the derived additional attribute information into the representation of the agent.
3 . The computer-implemented method of claim 2 , wherein the extracted attribute information is otherwise unable to be determined from deriving the additional attribute information from the sensor data.
4 . The computer-implemented method of claim 1 , further comprising:
based, at least in part on the extracted attribute information, predicting a future trajectory of the agent;
based, at least in part on the encoded representation of the agent and the predicted future trajectory of the agent, deriving a behavior plan for the vehicle.
5 . The computer-implemented method of claim 1 , further comprising:
before extracting the attribute information that was passively advertised by the agent, predicting an initial future trajectory of the agent based on available information about the agent; and
after extracting the attribute information that was passively advertised by the agent, predicting a revised future trajectory of the agent based at least in part on the extracted attribute information.
6 . The computer-implemented method of claim 5 , further comprising:
before extracting the attribute information that was passively advertised by the agent, deriving an initial behavior plan for the vehicle based at least in part on the initial future trajectory of the agent; and
after extracting the attribute information that was passively advertised by the agent, deriving a revised behavior plan for the vehicle based at least in part on the revised future trajectory of the agent.
7 . The computer-implemented method of claim 1 , wherein the agent comprises a given vehicle within the real-world environment, and wherein the attribute information that was passively advertised by the given vehicle comprises at least one of (i) a gross weight of the given vehicle, (ii) wheelbase information for the given vehicle, (iii) a maximum occupancy for the given vehicle, (iv) egress locations for the given vehicle, or (v) a drivetrain of the given vehicle.
8 . The computer-implemented method of claim 1 , wherein the portion of the sensor data comprising the attribute information that was passively advertised in the machine-detectable form comprises:
Light Detection and Ranging (LIDAR) data reflected off of a surface of the agent that has been configured to advertise the attribute information in the form of infrared (IR) light as one or both of (i) alpha-numeric characters or (ii) a machine-readable code.
9 . The computer-implemented method of claim 1 , wherein the portion of the sensor data comprising the attribute information that was passively advertised in the machine-detectable form comprises one of:
(i) ultrasonic audio data embedded with the attribute information that has been broadcast by the agent or (ii) radio frequency (RF) data embedded with the attribute information that has been broadcast by the agent.
10 . A non-transitory computer-readable medium comprising program instructions stored thereon that are executable to cause a computing system to:
capture sensor data that is representative of a real-world environment in which a vehicle is operating, wherein at least a portion of the sensor data comprises attribute information that was passively advertised by an agent in a machine-detectable form within the real-world environment;
identify, within the sensor data, the attribute information that was passively advertised by the agent;
after identifying the attribute information, extract the attribute information that was identified within the sensor data; and
encode the extracted attribute information into a representation of the agent.
11 . The computer-readable medium of claim 10 , further comprising program instructions stored thereon that are executable to cause the computing system to:
based on the sensor data, derive additional attribute information for the agent; and
encode the derived additional attribute information into the representation of the agent.
12 . The computer-readable medium of claim 11 , wherein the extracted attribute information is otherwise unable to be determined from deriving the additional attribute information from the sensor data.
13 . The computer-readable medium of claim 10 , further comprising program instructions stored thereon that are executable to cause the computing system to:
based at least in part on the extracted attribute information, predict a future trajectory of the agent.
14 . The computer-readable medium of claim 13 , further comprising program instructions stored thereon that are executable to cause the computing system to:
based, at least in part on the encoded representation of the agent and the predicted future trajectory of the agent, derive a behavior plan for the vehicle.
15 . The computer-readable medium of claim 10 , wherein the computer-readable medium further comprises program instructions stored thereon that are executable to cause the computing system to:
before extracting the attribute information that was passively advertised by the agent, predict an initial future trajectory of the agent based on available attribute information about the agent; and
after extracting the attribute information that was passively advertised by the agent, predicting a revised future trajectory of the agent based at least in part on the extracted attribute information.
16 . The computer-readable medium of claim 15 , further comprising program instructions stored thereon that are executable to cause the computing system to:
before extracting the attribute information that was passively advertised by the agent, derive an initial behavior plan for the vehicle based at least in part on the initial future trajectory of the agent; and
after extracting the attribute information that was passively advertised by the agent, derive a revised behavior plan for the vehicle based at least in part on the revised future trajectory of the agent.
17 . The computer-readable medium of claim 10 , wherein the portion of the sensor data comprising the attribute information that was passively advertised in the machine-detectable form comprises:
Light Detection and Ranging (LIDAR) data reflected off of a surface of the agent that has been configured to advertise the attribute information in the form of infrared (IR) light as one or both of (i) alpha-numeric characters or (ii) a machine-readable code.
18 . The computer-readable medium of claim 10 , wherein the portion of the sensor data comprising the attribute information that was passively advertised in the machine-detectable form comprises one of:
(i) ultrasonic audio data embedded with the attribute information that has been broadcast by the agent, or (ii) radio frequency (RF) data embedded with the attribute information that has been broadcast by the agent.
19 . A computing system comprising:
at least one processor;
a non-transitory computer-readable medium; and
program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is capable of:
capturing sensor data that is representative of a real-world environment in which a vehicle is operating, wherein at least a portion of the sensor data comprises attribute information that was passively advertised by an agent in a machine-detectable form within the real-world environment;
identifying, within the sensor data, the attribute information that was passively advertised by the agent;
after identifying the attribute information, extracting the attribute information that was identified within the sensor data; and
encoding the extracted attribute information into a representation of the agent.
20 . The computing system of claim 19 , further comprising program instructions stored on the non-transitory computer-readable medium that are executable such that the computing system is capable of:
based at least in part on the extracted attribute information, predicting a future trajectory of the agent; and
based, at least in part on the encoded representation of the agent and the predicted future trajectory of the agent, deriving a behavior plan for the vehicle.