公开(公告)号：US11353588B2

公开(公告)日：2022-06-07

申请号：US16177626

申请日：2018-11-01

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex Mccauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S17/89 ,  G06T7/521 ,  G01S7/497 ,  G01S7/481 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.

公开(公告)号：US11514343B2

公开(公告)日：2022-11-29

申请号：US16916384

申请日：2020-06-30

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthur Safira ,  Alex Mccauley ,  Ruffin Evans

IPC: G06N5/04 ,  B60W50/00 ,  G06N20/00 ,  G01S7/48 ,  G01S7/02

Abstract: Simulated degraded sensor data may be generated for use in training a model. For instance, first sensor data collected by a sensor of a perception system of an autonomous vehicle may be received and converted into the simulated degraded sensor data for a particular degrading condition, such as a weather-related degrading condition. Then, the simulated degraded sensor data may be used to train a model for evaluating performance of the perception system to detect objects external to the autonomous vehicle under one or more conditions.

公开(公告)号：US20210406722A1

公开(公告)日：2021-12-30

申请号：US16916384

申请日：2020-06-30

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthu Safira ,  Alex Mccauley ,  Ruffin Evans

IPC: G06N5/04 ,  B60W50/00 ,  G06N20/00

Abstract: Aspects of the disclosure relate to generating simulated degraded sensor data. For instance, first sensor data collected by a sensor of a perception system of an autonomous vehicle may be received. The first sensor data may be inputted into simulated degraded sensor data for a particular degrading condition. The simulated degraded sensor data may be used to evaluate or train a model for detecting objects of the perception system.