Patent Document ID: 9881219
Application ID: 14877115
Patent Status: 1

Claim One:
1. A controller for an autonomous vehicle comprising: one or more processing devices programmed to— receive one or more image streams from one or more imaging devices; identify a plurality of vehicle images in the one or more image stream; and identify any matching vehicle images among the plurality of vehicle images, the any matching vehicle images matching image data describing the autonomous vehicle with certainty exceeding a threshold; identify a set of potential obstacles from the plurality of vehicle images excluding the any matching vehicle images; and perform autonomous collision avoidance with respect to the set of potential obstacles; wherein the one or more processing devices are further programmed to identify the any matching vehicles by, for each image of the plurality of images— retrieve a mirrored three-dimensional (3D) model of the autonomous vehicle; orient the mirrored 3D model in correspondence with the each image; compare the each image to a rendering of the mirrored 3D model; if the each image matches the rendering, select the each image as one of the any matching images.