Invention Grant
- Patent Title: Cross-modal sensor data alignment
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Application No.: US16509152Application Date: 2019-07-11
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Publication No.: US11195064B2Publication Date: 2021-12-07
- Inventor: Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
- Applicant: Waymo LLC
- Applicant Address: US CA Mountain View
- Assignee: Waymo LLC
- Current Assignee: Waymo LLC
- Current Assignee Address: US CA Mountain View
- Agency: Fish & Richardson P.C.
- Main IPC: G06K9/62
- IPC: G06K9/62 ; G06T7/32 ; G06T7/73 ; G06K9/00

Abstract:
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
Public/Granted literature
- US20210012166A1 CROSS-MODAL SENSOR DATA ALIGNMENT Public/Granted day:2021-01-14
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