# US 2026/0062018 A1 · Tracking multi-dimensional path geometry for autonomous systems and applications

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- Number: US 2026/0062018 A1
- Document ID: US20260062018A1
- Status: Published application
- Kind: A1
- Application number: 18/817,938
- Filed: 2024-08-28
- Published: 2026-03-05
- Earliest claimed: 2024-08-28
- Assignees: NVIDIA Corporation
- Applicants: NVIDIA Corporation
- Inventors: Anjandeep Singh Sahni; Weizhao Shao; Jie Li; Hae-Jong Seo
- Web page: https://patentgrep.com/patent/US20260062018A1

## CPC

- B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
- B60W 60/001: {Planning or execution of driving tasks}
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/262: using transform domain methods, e.g. Fourier domain methods
- G06T 7/269: using gradient-based methods
- G06T 7/277: involving stochastic approaches, e.g. using Kalman filters
- G06T 7/64: of convexity or concavity
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence
- G06T 2207/10024: Color image
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/10048: Infrared image
- G06T 2207/20081: Training; Learning
- G06T 2207/20084: Artificial neural networks [ANN]
- G06T 2207/30256: Lane; Road marking
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

In various examples, geometries associated with one or more paths in an environment may be efficiently tracked and/or predicted using recursive models. For instance, the disclosed systems and methods may use Kalman filters to track and predict control points corresponding to Bezier curves (e.g., 2D and/or 3D Bezier curves). The Bezier curves may be representative of geometries associated with one or more lanes of a driving surface. In some instances, multiple Bezier curves may be used to represent a geometry of a lane, and multiple Kalman filters may be used to track and predict control points for each Bezier curve. For instance, an edge of the lane may be represented using a first Bezier curve, and control points for the first Bezier curve may be tracked and predicted using multiple Kalman filters (e.g., for a 3D Bezier curve, one Kalman filter for each x, y, or z dimension).

## Claims

### Claim 1

A method comprising:
determining one or more first state vectors associated with one or more first Kalman filters, the one or more first state vectors including one or more first values corresponding to one or more first Bezier representations associated with one or more first portions of one or more paths;
determining one or more second state vectors associated with one or more second Kalman filters, the one or more second state vectors including one or more second values corresponding to one or more second Bezier representations associated with one or more second portions of the one or more paths;
computing one or more geometries associated with the one or more paths based at least on the one or more first state vectors, the one or more second state vectors, and data indicating at least a relative motion associated with a machine; and
causing the machine to perform one or more operations based at least on the one or more geometries associated with the one or more paths.

### Claim 2 (depends on 1)

The method of claim 1, wherein the one or more paths include at least a first path and one or more second paths, the first path corresponding to a first lane of a driving surface occupied by the machine and the one or more second paths corresponding to one or more second lanes of the driving surface.

### Claim 3 (depends on 2)

The method of claim 2, wherein:
the one or more first portions of the one or more paths correspond to at least one or more first edges associated with the first lane and one or more second edges associated with the one or more second lanes, and
the one or more second portions of the one or more paths correspond to at least a first midline associated with the first lane and one or more second midlines associated with the one or more second lanes.

### Claim 4 (depends on 1)

The method of claim 1, wherein the one or more first Bezier representations and the one or more second Bezier representations include at least one three-dimensional (3D) Bezier curve representative of a geometry associated with a portion of a path of the one or more paths.

### Claim 5 (depends on 4)

The method of claim 4, wherein:
the one or more first values included in the one or more first state vectors correspond to a first dimension associated with one or more 3D control points for the 3D Bezier curve, and
the one or more second values included in the one or more second state vectors correspond to a second dimension associated with the one or more 3D control points for the 3D Bezier curve.

### Claim 6 (depends on 1)

The method of claim 1, further comprising:
applying, to one or more machine learning models, sensor data generated using one or more sensors associated with the machine, the sensor data indicative of at least the relative motion associated with the machine;
determining one or more first updated state vectors based at least on updating the one or more first values using one or more first outputs of the one or more machine learning models; and
determining one or more second updated state vectors based at least on updating the one or more second values using one or more second outputs of the one or more machine learning models,
wherein the computing of the one or more geometries associated with the one or more paths is based at least on the one or more first updated state vectors and the one or more second updated state vectors.

### Claim 7

A system comprising:
one or more processors to:
obtain one or more first points corresponding to one or more first Bezier representations associated with one or more paths in an environment;
compute, based at least on the one or more first points and a relative motion associated with a machine, one or more second points corresponding to one or more second Bezier representations associated with the one or more paths; and
perform one or more operations associated with the machine based at least on the one or more second Bezier representations.

### Claim 8 (depends on 7)

The system of claim 7, wherein the one or more first Bezier representations and the one or more second Bezier representations correspond to one or more three-dimensional (3D) Bezier curves representative of one or more 3D geometries associated with the one or more paths.

### Claim 9 (depends on 7)

The system of claim 7, wherein the one or more first Bezier representations include at least a first Bezier curve and one or more second Bezier curves, the first Bezier curve corresponding to a first portion of at least one path of the one or more paths and the one or more second Bezier curves corresponding to one or more second portions of the path.

### Claim 10 (depends on 9)

The system of claim 9, wherein the first portion of the path is a midline associated with the path and the one or more second portions are one or more edges associated with the path.

### Claim 11 (depends on 7)

The system of claim 7, wherein the one or more paths correspond to one or more lanes associated with a driving surface in the environment, the one or more lanes including at least a first lane and one or more second lanes.

### Claim 12 (depends on 7)

The system of claim 7, wherein the one or more first Bezier representations are associated with one or more first portions of the one or more paths and the one or more second Bezier representations are associated with one or more second portions of the one or more paths.

### Claim 13 (depends on 7)

The system of claim 7, wherein the obtainment of the one or more first points corresponding to the one or more first Bezier representations comprises:
obtaining one or more first state vectors including one or more first values representing one or more first coordinate locations of the one or more first points with respect to a first dimension of a multi-dimensional space; and
obtaining one or more second state vectors including one or more second values representing one or more second coordinate locations of the one or more first points with respect to a second dimension of the multi-dimensional space.

### Claim 14 (depends on 7)

The system of claim 7, the one or more processors further to:
apply, to one or more machine learning models, sensor data generated using one or more sensors associated with the machine; and
compute, based at least on one or more outputs of the one or more machine learning models, one or more updated versions of the one or more second points corresponding to one or more updated Bezier representations associated with the one or more paths,
wherein the performance of the one or more operations associated with the machine is further based at least on one or more updated Bezier representations.

### Claim 15 (depends on 7)

The system of claim 7, wherein the one or more first Bezier representations include at least a first set of multi-dimensional Bezier curves corresponding to one or more first portions of a first path in the environment and one or more second sets of multi-dimensional Bezier curves corresponding to one or more second portions of one or more second paths in the environment.

### Claim 16 (depends on 7)

The system of claim 7, the one or more processor further to:
apply, to one or more values associated with the one or more first points, one or more shifting matrices determined based at least on one or more polyline points associated with the one or more first Bezier representations; and
wherein the computation of the one or more second points is further based at least on the application of the one or more shifting matrices.

### Claim 17 (depends on 11)

The system of claim 11, wherein the system is comprised in at least one of:
a control system for an autonomous or semi-autonomous machine;
a perception system for an autonomous or semi-autonomous machine;
a system for performing one or more simulation operations;
a system for performing one or more digital twin operations;
a system for performing light transport simulation;
a system for performing collaborative content creation for 3D assets;
a system for performing one or more deep learning operations;
a system implemented using an edge device;
a system implemented using a robot;
a system for performing one or more generative AI operations;
a system for performing operations using one or more large language models;
a system for performing operations using one or more vision language models (VLMs);
a system for performing operations using one or more multi-modal language models;
a system for performing one or more conversational AI operations;
a system for generating synthetic data;
a system for presenting at least one of virtual reality content, augmented reality content, or mixed reality content;
a system incorporating one or more virtual machines (VMs);
a system implemented at least partially in a data center; or
a system implemented at least partially using cloud computing resources.

### Claim 18

At least one processor comprising:
processing circuitry to perform one or more operations associated with a machine based at least on one or more curves associated with one or more portions of one or more paths in an environment, wherein the one or more curves are determined using one or more Kalman filters to at least one of track or predict one or more three-dimensional (3D) control coordinates corresponding to the one or more curves.

### Claim 19 (depends on 18)

The processor of claim 18, wherein the one or more curves comprise at least:
one or more first 3D Bezier curves representative of one or more first 3D geometries associated with a first path of the one or more paths; and
one or more second 3D Bezier curves representative of one or more second 3D geometries associated with one or more second paths of the one or more paths.

### Claim 20 (depends on 18)

The processor of claim 18, wherein the processor is comprised in at least one of:
a control system for an autonomous or semi-autonomous machine;
a perception system for an autonomous or semi-autonomous machine;
a system for performing one or more simulation operations;
a system for performing one or more digital twin operations;
a system for performing light transport simulation;
a system for performing collaborative content creation for 3D assets;
a system for performing one or more deep learning operations;
a system implemented using an edge device;
a system implemented using a robot;
a system for performing one or more generative AI operations;
a system for performing operations using one or more large language models;
a system for performing operations using one or more vision language models (VLMs);
a system for performing operations using one or more multi-modal language models;
a system for performing one or more conversational AI operations;
a system for generating synthetic data;
a system for presenting at least one of virtual reality content, augmented reality content, or mixed reality content;
a system incorporating one or more virtual machines (VMs);
a system implemented at least partially in a data center; or
a system implemented at least partially using cloud computing resources.