公开(公告)号：US11915490B2

公开(公告)日：2024-02-27

申请号：US17819883

申请日：2022-08-15

Applicant: Waymo LLC

Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

IPC: G06V20/56 ,  G06F18/214 ,  G06F18/2415

CPC classification number: G06V20/56 ,  G06F18/214 ,  G06F18/2415

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

公开(公告)号：US20220063662A1

公开(公告)日：2022-03-03

申请号：US17003827

申请日：2020-08-26

Applicant: Waymo LLC

Inventor： Christoph Sprunk ,  David Harrison Silver ,  Carlos Hernandez Esteban ,  Michael Montemerlo ,  Peter Pawlowski ,  David Yonchar Margines

IPC: B60W60/00 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for autonomous driving with surfel maps. In some implementations, a three-dimensional representation of a real-world environment is obtained. Each of the surfels can correspond to a respective point of plurality of points in a three-dimensional space of the real-world environment. Input sensor data is received from multiple sensors installed on the autonomous vehicle. A pedestrian is detected from the input sensor data. A determination is made that the pedestrian is located behind a barrier. A driving plan is updated based on determining that the pedestrian is located behind a barrier.

公开(公告)号：US11417110B2

公开(公告)日：2022-08-16

申请号：US17015809

申请日：2020-09-09

Applicant: Waymo LLC

Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

IPC: G06V20/56 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

公开(公告)号：US20220076030A1

公开(公告)日：2022-03-10

申请号：US17015809

申请日：2020-09-09

Applicant: Waymo LLC

Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

IPC: G06K9/00 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

公开(公告)号：US20230076479A1

公开(公告)日：2023-03-09

申请号：US17819883

申请日：2022-08-15

Applicant: Waymo LLC

Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

IPC: G06V20/56 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.