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公开(公告)号：US11830203B2
公开(公告)日：2023-11-28
申请号：US17728682
申请日：2022-04-25
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
CPC classification number: G06T7/248 , G06N3/045 , G06N3/084 , G05D1/0088 , G06T2207/20084 , G06T2207/30252
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US10671084B1
公开(公告)日：2020-06-02
申请号：US16196258
申请日：2019-01-28
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Ian James Mahon
Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.
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Patent Agency Ranking
公开(公告)号：US11315260B2
公开(公告)日：2022-04-26
申请号：US16726053
申请日：2019-12-23
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US20220245835A1
公开(公告)日：2022-08-04
申请号：US17728682
申请日：2022-04-25
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US20210192757A1
公开(公告)日：2021-06-24
申请号：US16726053
申请日：2019-12-23
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US10162363B1
公开(公告)日：2018-12-25
申请号：US15879960
申请日：2018-01-25
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Ian James Mahon
Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.
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公开(公告)号：US09958869B1
公开(公告)日：2018-05-01
申请号：US15598427
申请日：2017-05-18
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Ian James Mahon
CPC classification number: G05D1/0253 , G05D1/021 , G05D1/0212 , G05D1/0238 , G05D2201/0212 , G06K9/00791 , G06K9/00805 , G06K9/6204 , G08G1/165
Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.
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