Invention Grant
- Patent Title: Detecting environment changes using surfel data
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Application No.: US17021828Application Date: 2020-09-15
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Publication No.: US11561552B2Publication Date: 2023-01-24
- Inventor: David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
- 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: G05D1/02
- IPC: G05D1/02 ; G06V10/75 ; G06V20/56 ; H04W4/46

Abstract:
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing data characterizing a first region in an environment to generate a prediction characterizing a second region in the environment. One of the methods includes obtaining surfel data comprising a plurality of surfels; obtaining sensor data for a plurality of locations in a first region of the environment; determining, from the surfel data, a plurality of first surfels corresponding to respective locations in the first region of the environment; determining, using the first surfels and the sensor data, a difference between i) a first representation of the first region of the environment corresponding to the first surfels and ii) a second representation of the first region of the environment corresponding to the sensor data; and generating a respective object prediction for one or more locations in a second region of the environment.
Public/Granted literature
- US20220083073A1 DETECTING ENVIRONMENT CHANGES USING SURFEL DATA Public/Granted day:2022-03-17
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