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公开(公告)号：US20210012089A1
公开(公告)日：2021-01-14
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
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公开(公告)号：US12106528B2
公开(公告)日：2024-10-01
申请号：US17684334
申请日：2022-03-01
Applicant: Waymo LLC
Inventor： Nichola Abdo , Jonathon Shlens , Zhifeng Chen , Christopher John Sweeney , Philipp Florian Jund
IPC: G06T9/00 , G06F18/214
CPC classification number: G06T9/002 , G06F18/2148
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.
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公开(公告)号：US20220319054A1
公开(公告)日：2022-10-06
申请号：US17684334
申请日：2022-03-01
Applicant: Waymo LLC
Inventor： Nichola Abdo , Jonathon Shlens , Zhifeng Chen , Christopher John Sweeney , Philipp Florian Jund
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.
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公开(公告)号：US11450120B2
公开(公告)日：2022-09-20
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
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