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公开(公告)号：US20220082408A1
公开(公告)日：2022-03-17
申请号：US17021811
申请日：2020-09-15
Applicant: Waymo LLC
Inventor： Michael Montemerlo , Colin Andrew Braley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing an initial representation of an environment to generate an updated representation that includes representations of one or more objects there were obscured in the initial representation. One of the methods includes obtaining initial surfel data comprising a plurality of surfels; determining a plurality of non-static surfels from the plurality of surfels; obtaining guidance data that characterizes a prediction for static surfaces in one or more first regions of the environment that were obscured by the plurality of non-static surfels in the initial surfel data; and processing the guidance data and the initial surfel data to generate final surfel data that comprises, for each first region of the environment, a plurality of predicted surfels that represent static surfaces in the first region that are partially or wholly obscured by objects represented by respective non-static surfels.
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公开(公告)号：US11080267B2
公开(公告)日：2021-08-03
申请号：US16120071
申请日：2018-08-31
Applicant: Waymo LLC
Inventor： Michael Montemerlo
IPC: G08G1/00 , G06F16/23 , G08G1/0968 , G01C21/34 , G08G1/0969 , G06F16/29 , G06F16/22 , G06F16/901
Abstract: Methods, systems, and techniques for validating road intersections are presented. The method includes receiving annotated intersection data that, for each lane of a particular candidate intersection, indicates one or more attributes of the lane; processing the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection that is sensitive to a topological structure of the lanes of the particular candidate intersection and is invariant to a geometry of the lanes of the particular candidate intersection; designating the particular candidate intersection as validated without performing the one or more quality control processes based at least on the intersection fingerprint; and storing a representation of the particular candidate intersection in the roadgraph.
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公开(公告)号：US20200249359A1
公开(公告)日：2020-08-06
申请号：US16856275
申请日：2020-04-23
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US20200073977A1
公开(公告)日：2020-03-05
申请号：US16120071
申请日：2018-08-31
Applicant: Waymo LLC
Inventor： Michael Montemerlo
IPC: G06F17/30 , G01C21/34 , G08G1/0968 , G08G1/0969
Abstract: Methods, systems, and techniques for validating road intersections are presented. The method includes receiving annotated intersection data that, for each lane of a particular candidate intersection, indicates one or more attributes of the lane; processing the annotated intersection data to generate an intersection fingerprint for the particular candidate intersection that is sensitive to a topological structure of the lanes of the particular candidate intersection and is invariant to a geometry of the lanes of the particular candidate intersection; designating the particular candidate intersection as validated without performing the one or more quality control processes based at least on the intersection fingerprint; and storing a representation of the particular candidate intersection in the roadgraph.
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公开(公告)号：US20230334776A1
公开(公告)日：2023-10-19
申请号：US18338864
申请日：2023-06-21
Applicant: Waymo LLC
Inventor： Christian Lauterbach , Colin Andrew Braley , Carlos Hernandez Esteban , Michael Montemerlo
IPC: G06T17/00 , G01C21/36 , G06V20/20 , G06V20/56 , G01S17/89 , G06T17/05 , G06T17/20 , G01S17/88 , G06T15/20 , G06V20/58 , G06V10/44 , G06F18/24 , G06F18/2113
CPC classification number: G06T17/00 , G01C21/3667 , G06V20/20 , G06V20/56 , G01S17/89 , G06T17/05 , G06T17/20 , G01S17/88 , G06T15/205 , G06V20/58 , G06V10/44 , G06F18/24 , G06F18/2113 , G06T2207/10028 , G06T2210/56
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sensor calibration with environment map. In some implementations, a three-dimensional surfel representation of a real-world environment is obtained. One or more surfels of the surfel representation having a particular classification of the different classifications are selected. Input sensor data from one or more sensors installed on an autonomous or semi-autonomous vehicle are received. The input sensor data is compared to the surfel representation to identify one or more differences between the observation and the surfel representation. At least one sensor of the one or more sensors is calibrated using the one or more differences between the observation and the surfel representation.
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Patent Agency Ranking
公开(公告)号：US11541903B2
公开(公告)日：2023-01-03
申请号：US16892138
申请日：2020-06-03
Applicant: Waymo LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; 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 particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.
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公开(公告)号：US20220011116A1
公开(公告)日：2022-01-13
申请号：US16922052
申请日：2020-07-07
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
Abstract: Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
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公开(公告)号：US20210381843A1
公开(公告)日：2021-12-09
申请号：US16892186
申请日：2020-06-03
Applicant: Waymo LLC
Inventor： Michael Montemerlo
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using surfels for vehicle localization. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises a stability measure, wherein the stability measure characterizes a permanence of a surface represented by the surfel; obtaining sensor data for a plurality of locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining a plurality of high-stability surfels from the plurality of surfels in the surfel data; and determining a location in the environment of the first vehicle using the plurality of selected high-stability surfels and the sensor data.
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公开(公告)号：US20210380125A1
公开(公告)日：2021-12-09
申请号：US16892138
申请日：2020-06-03
Applicant: Waymo LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; 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 particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.
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公开(公告)号：US11961272B2
公开(公告)日：2024-04-16
申请号：US18201546
申请日：2023-05-24
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
CPC classification number: G06V10/25 , B60W60/001 , G06T7/90 , G06V10/751 , G06V20/58 , B60W2420/42 , B60W2420/52 , B60W2554/802 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
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