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公开(公告)号：US11761769B2
公开(公告)日：2023-09-19
申请号：US17708477
申请日：2022-03-30
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
CPC classification number: G01C21/30 , B60W60/001 , G01S13/89 , G05D1/0274 , B60W2555/20
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：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：US20220221280A1
公开(公告)日：2022-07-14
申请号：US17708477
申请日：2022-03-30
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：US11320272B2
公开(公告)日：2022-05-03
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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