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公开(公告)号：US20220156965A1
公开(公告)日：2022-05-19
申请号：US17505900
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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公开(公告)号：US20250037303A1
公开(公告)日：2025-01-30
申请号：US18614254
申请日：2024-03-22
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
IPC: G06T7/73 , G06F18/214 , G06F18/25 , G06V20/58
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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公开(公告)号：US11967103B2
公开(公告)日：2024-04-23
申请号：US17505900
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
IPC: G06T7/73 , G06F18/214 , G06F18/25 , G06V20/58
CPC classification number: G06T7/73 , G06F18/214 , G06F18/251 , G06V20/58 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30196 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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