公开(公告)号：US20240303827A1

公开(公告)日：2024-09-12

申请号：US18600449

申请日：2024-03-08

Applicant: Waymo LLC

Inventor： Longlong Jing ,  Ruichi Yu ,  Xu Chen ,  Zhengli Zhao ,  Shiwei Sheng

IPC: G06T7/20 ,  G01S17/89 ,  G06V10/44

CPC classification number: G06T7/20 ,  G01S17/89 ,  G06V10/44 ,  G06T2207/30241 ,  G06V2201/07

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for tracking objects in an environment across time. In one aspect, a method comprises: receiving a set of current object detections, each characterizing features of a respective detected object; maintaining data, including track query feature representations, that identifies one or more object tracks (each associated with respective earlier object detections classified as characterizing the same object; and, for each object track: (i) selecting a subset of the current object detections as candidate object detections for the object track, (ii) generating a respective association score for each candidate object detection based on an input derived from the candidate object detections and the track query feature representation for the object track using a track-detection interaction neural network, and (iii) determining whether to associate any of the current object detections with the object track based on the respective association scores.

公开(公告)号：US20220180549A1

公开(公告)日：2022-06-09

申请号：US17545987

申请日：2021-12-08

Applicant: Waymo LLC

Inventor： Longlong Jing ,  Ruichi Yu ,  Jiyang Gao ,  Henrik Kretzschmar ,  Kang Li ,  Ruizhongtai Qi ,  Hang Zhao ,  Alper Ayvaci ,  Xu Chen ,  Dillon Cower ,  Congcong Li

IPC: G06T7/70 ,  G06V10/40 ,  G06V10/80 ,  G06T7/50 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting three-dimensional object locations from images. One of the methods includes obtaining a sequence of images that comprises, at each of a plurality of time steps, a respective image that was captured by a camera at the time step; generating, for each image in the sequence, respective pseudo-lidar features of a respective pseudo-lidar representation of a region in the image that has been determined to depict a first object; generating, for a particular image at a particular time step in the sequence, image patch features of the region in the particular image that has been determined to depict the first object; and generating, from the respective pseudo-lidar features and the image patch features, a prediction that characterizes a location of the first object in a three-dimensional coordinate system at the particular time step in the sequence.

公开(公告)号：US20250022143A1

公开(公告)日：2025-01-16

申请号：US18221577

申请日：2023-07-13

Applicant: Waymo LLC

Inventor： Qinru Li ,  Longlong Jing ,  Ruichi Yu ,  Xu Chen ,  Shiwei Sheng

IPC: G06T7/20 ,  G01S17/89 ,  G05D1/02 ,  G06V10/25 ,  G06V10/44 ,  G06V20/56

Abstract: The described aspects and implementations enable efficient and seamless tracking of objects in vehicle environments using different sensing modalities across a wide range of distances. A perception system of a vehicle deploys an object tracking pipeline with a plurality of models that include a camera model trained to perform, using camera images, object tracking at distances exceeding a lidar sensing range, a lidar model trained to perform, using lidar images, object tracking at distances within the lidar sensing range, and a camera-lidar model trained to transfer, using the camera images and the lidar images, object tracking from the camera model to the lidar model.