-
公开(公告)号：US11941875B2
公开(公告)日：2024-03-26
申请号：US17443674
申请日：2021-07-27
Applicant: Waymo LLC
Inventor： Yuning Chai , Pei Sun , Jiquan Ngiam , Weiyue Wang , Vijay Vasudevan , Benjamin James Caine , Xiao Zhang , Dragomir Anguelov
IPC: G06V20/00 , G01S7/48 , G01S17/89 , G06F18/21 , G06F18/213 , G06F18/25 , G06N3/08 , G06T7/70 , G06V10/94 , H04N23/10
CPC classification number: G06V20/00 , G01S7/4802 , G01S17/89 , G06F18/213 , G06F18/217 , G06F18/253 , G06N3/08 , G06T3/4046 , G06T7/70 , G06V10/95 , H04N23/10 , G06T2207/20084
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing a perspective view range image generated from sensor measurements of an environment. The perspective view range image includes a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors. The system processes the perspective view range image using a first neural network to generate an output feature representation. The first neural network comprises a first perspective point-set aggregation layer comprising a geometry-dependent kernel.
-
公开(公告)号：US20210012089A1
公开(公告)日：2021-01-14
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
-
3.发明公开公开(公告)号：US20230280753A1
公开(公告)日：2023-09-07
申请号：US18118696
申请日：2023-03-07
Applicant: Waymo LLC
Inventor： Benjamin James Caine , Khaled Refaat , Benjamin Sapp , Scott Morgan Ettinger , Wei Chai , Rebecca Dawn Roelofs , Liting Sun
IPC: G05D1/02 , G06V20/54 , G06V10/82 , G06V10/774
CPC classification number: G05D1/0221 , G06V20/54 , G06V10/82 , G06V10/774
Abstract: Methods, systems, and apparatus for predicting future trajectories of agents in an environment. In one aspect, a system comprises one or more computers configured to receive a data set comprising multiple training examples. The training examples include scene data comprising respective agent data for multiple agents and a ground truth trajectory for a target agent that represents ground truth motion of the target agent after a corresponding time point. The one or more computers obtain data identifying one or more of the multiple agents as non-causal agents for each training example. A non-causal agent is an agent whose states do not cause the ground truth trajectory for the target agent to change. The one or more computers generate a respective modified training example from each of the multiple training examples.
-
公开(公告)号：US11450120B2
公开(公告)日：2022-09-20
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
-
-
-
Search Results
4
records
(took 0.013 seconds)
