公开(公告)号：US20230294687A1

公开(公告)日：2023-09-21

申请号：US18169105

申请日：2023-02-14

Applicant: Waymo LLC

Inventor： James Philbin ,  Vasiliy Igorevich Karasev ,  Alper Ayvaci ,  Marc Wimmershoff ,  Dragomir Dimitrov Anguelov

IPC: B60W30/095 ,  G05B13/02

CPC classification number: B60W30/0956 ,  G05B13/027 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2554/4044 ,  B60W2555/60 ,  B60W2556/40

Abstract: The described aspects and implementations enable efficient object detection and tracking. In one implementation, disclosed is a method and a system to perform the method, the system including the sensing system configured to obtain sensing data characterizing an environment of the vehicle. The system further includes a data processing system operatively coupled to the sensing system and configured to process the sensing data using a first (second) set of neural network (NN) layers to obtain a first (second) set of features for a first (second) region of the environment, the first (second) set of features is associated with a first (second) spatial resolution. The data processing system is further to process the two sets of features using a second set of NN layers to detect a location of obj ect(s) in the environment of the vehicle and a state of motion of the object(s).

公开(公告)号：US20230260266A1

公开(公告)日：2023-08-17

申请号：US18108749

申请日：2023-02-13

Applicant: Waymo LLC

Inventor： Vasiliy Igorevich Karasev ,  Jiakai Zhang ,  Alper Ayvaci ,  Hang Yan ,  James Philbin

IPC: G06V10/80 ,  G01S13/86 ,  G01S7/41 ,  G06V20/58 ,  G06V10/82 ,  G06V10/77

CPC classification number: G06V10/806 ,  G01S13/867 ,  G01S7/417 ,  G01S7/412 ,  G06V20/58 ,  G06V10/82 ,  G06V10/7715

Abstract: A method includes obtaining, by a processing device, input data derived from a set of sensors associated with an autonomous vehicle (AV), extracting, by the processing device from the input data, a plurality of sets of features, generating, by the processing device using the plurality of sets of features, a fused bird's-eye view (BEV) grid. The fused BEV grid is generated based on a first BEV grid having a first scale and a second BEV grid having a second scale different from the first scale. The method further includes providing, by the processing device, the fused BEV grid for object detection.