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公开(公告)号：US11164363B2
公开(公告)日：2021-11-02
申请号：US16924080
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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公开(公告)号：US11670038B2
公开(公告)日：2023-06-06
申请号：US17516073
申请日：2021-11-01
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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Patent Agency Ranking
公开(公告)号：US20220076082A1
公开(公告)日：2022-03-10
申请号：US17531444
申请日：2021-11-19
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
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公开(公告)号：US20220058858A1
公开(公告)日：2022-02-24
申请号：US17516073
申请日：2021-11-01
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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公开(公告)号：US11195064B2
公开(公告)日：2021-12-07
申请号：US16509152
申请日：2019-07-11
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
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公开(公告)号：US20210012166A1
公开(公告)日：2021-01-14
申请号：US16509152
申请日：2019-07-11
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
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公开(公告)号：US20210012555A1
公开(公告)日：2021-01-14
申请号：US16924080
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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