公开(公告)号：US12154212B2

公开(公告)日：2024-11-26

申请号：US17098943

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Zhenpei Yang ,  Yuning Chai ,  Yin Zhou ,  Pei Sun ,  Henrik Kretzschmar ,  Sean Rafferty ,  Dumitru Erhan ,  Dragomir Anguelov

IPC: G06T17/05 ,  B60W30/095 ,  B60W50/06 ,  B60W60/00 ,  G06N3/045 ,  G06N3/08 ,  G06T7/70 ,  G06T9/00 ,  G06T15/00 ,  G06T15/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.

公开(公告)号：US20210150799A1

公开(公告)日：2021-05-20

申请号：US17098943

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Zhenpei Yang ,  Yuning Chai ,  Yin Zhou ,  Pei Sun ,  Henrik Kretzschmar ,  Sean Rafferty ,  Dumitru Erhan ,  Dragomir Anguelov

IPC: G06T15/04 ,  G06T9/00 ,  G06T7/70 ,  G06N3/04 ,  G06N3/08 ,  B60W60/00 ,  B60W30/095 ,  B60W50/06

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.