公开(公告)号：US20220153297A1

公开(公告)日：2022-05-19

申请号：US16952930

申请日：2020-11-19

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

IPC: B60W60/00 ,  G06K9/00 ,  G01S13/931 ,  G01S13/50

Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

公开(公告)号：US11702102B2

公开(公告)日：2023-07-18

申请号：US16952930

申请日：2020-11-19

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

IPC: B60W60/00 ,  G01S13/931 ,  G01S13/50 ,  G06V20/58

CPC classification number: B60W60/0011 ,  G01S13/505 ,  G01S13/931 ,  G06V20/58 ,  B60W2420/52 ,  G01S2013/9321 ,  G01S2013/9327

Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

公开(公告)号：US20220146676A1

公开(公告)日：2022-05-12

申请号：US16949657

申请日：2020-11-09

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Mingcheng Chen ,  Xiaoxiang Hu ,  Colin Andrew Braley ,  Yunshan Jiang

IPC: G01S17/89 ,  G01S17/58 ,  G01S17/26 ,  B60W40/02

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling efficient object identification and tracking in autonomous vehicle (AV) applications by using velocity data-assisted mapping of first set of points obtained for a first sensing data frame by a sensing system of the AV to a second set of points obtained for a second sensing data frame by the sensing system of the AV, the first set of points and the second set of points corresponding to an object in an environment of the AV, and causing a driving path of the AV to be determined in view of the performed mapping.

公开(公告)号：US12050267B2

公开(公告)日：2024-07-30

申请号：US16949657

申请日：2020-11-09

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Mingcheng Chen ,  Xiaoxiang Hu ,  Colin Andrew Braley ,  Yunshan Jiang

IPC: G01S17/89 ,  B60W40/02 ,  G01S17/26 ,  G01S17/58

CPC classification number: G01S17/89 ,  B60W40/02 ,  G01S17/26 ,  G01S17/58 ,  B60W2420/408

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling efficient object identification and tracking in autonomous vehicle (AV) applications by using velocity data-assisted mapping of first set of points obtained for a first sensing data frame by a sensing system of the AV to a second set of points obtained for a second sensing data frame by the sensing system of the AV, the first set of points and the second set of points corresponding to an object in an environment of the AV, and causing a driving path of the AV to be determined in view of the performed mapping.