公开(公告)号：US12067738B2

公开(公告)日：2024-08-20

申请号：US17472418

申请日：2021-09-10

Applicant: Waymo LLC

Inventor： Alexander Gorban ,  Yin Zhou, Jr. ,  Dragomir Anguelov ,  Alessandro Giulianelli

IPC: G06T7/521 ,  G01S7/48 ,  G01S17/89 ,  G01S17/931 ,  G05D1/00 ,  G06T7/73

CPC classification number: G06T7/521 ,  G01S7/4808 ,  G01S17/89 ,  G01S17/931 ,  G05D1/0088 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining estimated ground truth object keypoint labels for sensor readings of objects. In one aspect, a method comprises obtaining a plurality of sets of label data for a sensor reading of an object; obtaining respective quality control data corresponding to each of the plurality of sets of label data, the respective quality control data comprising: data indicating whether the labeled location of the first object keypoint in the corresponding set of label data is accurate; and determining an estimated ground truth location for the first object keypoint in the sensor data keypoint from (i) the labeled locations that were indicated as accurate by the corresponding quality control data and (ii) not from the labeled locations that were indicated as not accurate by the corresponding quality control data.