公开(公告)号：US20230213643A1

公开(公告)日：2023-07-06

申请号：US18076723

申请日：2022-12-07

Applicant: Waymo LLC

Inventor： Jyh-Jing Hwang ,  Henrik Kretzschmar ,  Dragomir Anguelov

IPC: G01S13/86 ,  G01S13/89 ,  G01S7/41 ,  G06T7/50 ,  G06V10/82 ,  G06T7/194 ,  G06V10/80

CPC classification number: G01S13/867 ,  G01S13/89 ,  G01S7/417 ,  G06T7/50 ,  G06V10/82 ,  G06T7/194 ,  G06V10/80 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/30252 ,  G06V20/56

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing sensor data. In one aspect, a method includes obtaining image data representing a camera sensor measurement of a scene; obtaining radar data representing a radar sensor measurement of the scene; generating a feature representation of the image data; generating a respective initial depth estimate for each of a subset of the plurality of pixels; generating a feature representation of the radar data; for each of the subset of the plurality of pixels, generating a respective adjusted depth estimate for the pixel using the initial depth estimate for the pixel and the radar feature vectors for a corresponding subset of the plurality of radar reflection points; generating a fused point cloud that includes a plurality of three-dimensional data points; and processing the fused point cloud to generate an output that characterizes the scene.