公开(公告)号：US10198643B1

公开(公告)日：2019-02-05

申请号：US15383317

申请日：2016-12-19

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  David Harrison Silver ,  Hyman Jack Murveit

IPC: G06K9/00 ,  G06K9/62 ,  G05D1/02

Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.

公开(公告)号：US20170228604A1

公开(公告)日：2017-08-10

申请号：US15498911

申请日：2017-04-27

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver

IPC: G06K9/00 ,  G05D1/02 ,  G05D1/00 ,  G06T7/73 ,  G06K9/62

CPC classification number: G06K9/00798 ,  B60W30/12 ,  G05D1/0088 ,  G05D1/0246 ,  G06K9/209 ,  G06K9/6202 ,  G06K9/6288 ,  G06T7/74 ,  G06T2207/30256

Abstract: A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.