公开(公告)号：US11836955B2

公开(公告)日：2023-12-05

申请号：US17150228

申请日：2021-01-15

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G06V10/778 ,  G05D1/02 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90 ,  G06V20/20 ,  G06V20/58

CPC classification number: G06V10/7784 ,  G05D1/0088 ,  G05D1/0246 ,  G06T7/60 ,  G06T7/90 ,  G06V20/20 ,  G06V20/582 ,  G06T2207/30252

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.

公开(公告)号：US20210191419A1

公开(公告)日：2021-06-24

申请号：US17150228

申请日：2021-01-15

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G05D1/02 ,  G06K9/00 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.

公开(公告)号：US20240054772A1

公开(公告)日：2024-02-15

申请号：US18492891

申请日：2023-10-24

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G06V10/778 ,  G05D1/02 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90 ,  G06V20/20 ,  G06V20/58

CPC classification number: G06V10/7784 ,  G05D1/0246 ,  G06T7/60 ,  G05D1/0088 ,  G06T7/90 ,  G06V20/20 ,  G06V20/582 ,  G06T2207/30252

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.

公开(公告)号：US10928828B2

公开(公告)日：2021-02-23

申请号：US16220225

申请日：2018-12-14

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G05D1/02 ,  G06K9/00 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.