公开(公告)号：US20220156972A1

公开(公告)日：2022-05-19

申请号：US17526682

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Yu-Han Chen ,  Maya Kabkab ,  Ruichi Yu ,  Yingwei Li ,  Hang Zhao ,  Yu Ouyang

IPC: G06T7/73 ,  G06N3/04 ,  G01S17/89

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a distance estimate for a target object that is depicted in an image of a scene in an environment. The system obtains data specifying (i) a target portion of the image that depicts the target object detected in the image, and (ii) one or more reference portions of the image that each depict a respective reference object detected in the image. The system further obtains, for each of the one or more reference objects, a respective distance measurement for the reference object that is a measurement of a distance from the reference object to a specified location in the environment. The system processes the obtained data to generate a distance estimate for the target object that is an estimate of a distance from the target object to the specified location in the environment.

公开(公告)号：US20240062386A1

公开(公告)日：2024-02-22

申请号：US18235292

申请日：2023-08-17

Applicant: Waymo LLC

Inventor： Ruizhongtai Qi ,  Yurong You ,  Yingwei Li ,  Chenxi Liu ,  Yin Zhou

IPC: G06T7/246 ,  G06T7/215

CPC classification number: G06T7/246 ,  G06T7/215 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing sensor data, e.g., laser sensor data, using neural networks. One of the methods includes obtaining a temporal sequence of multiple three-dimensional point clouds generated from sensor readings of an environment collected by one or more sensors within a given time period, each three-dimensional point cloud comprising a respective plurality of points in a first coordinate system; processing, using a feature extraction neural network, an input that comprises data derived from the temporal sequence of multiple three-dimensional point clouds to generate a feature embedding; receiving a query that specifies one time point within the given time period; and generating, from the feature embedding and conditioned on the query, one or more outputs that characterize one or more objects in the environment at the time point specified in the received query.