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公开(公告)号：US12066578B2
公开(公告)日：2024-08-20
申请号：US17173242
申请日：2021-02-11
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Volker Grabe , Christian Lauterbach
CPC classification number: G01S7/4972 , G01S7/497 , G01S17/10 , G01S17/42 , G01S17/86 , G01S17/87 , G01S17/931
Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
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公开(公告)号：US11945467B2
公开(公告)日：2024-04-02
申请号：US18193199
申请日：2023-03-30
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
CPC classification number: B60W60/001 , B62D15/021 , G01C21/3415 , G06V20/588 , G08G1/20 , H04W4/46 , B60W2420/52 , B60W2554/4049
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US11860626B2
公开(公告)日：2024-01-02
申请号：US17412599
申请日：2021-08-26
Applicant: Waymo LLC
Inventor： Stephanie McArthur , Mark Alexander Shand , Colin Braley
CPC classification number: G05D1/0055 , G01C21/20 , G01S7/40 , G01S7/497 , G01S7/52004 , G05D1/0255 , G05D1/0257 , G05D1/0259
Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
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公开(公告)号：US11615553B1
公开(公告)日：2023-03-28
申请号：US17725636
申请日：2022-04-21
Applicant: Waymo LLC
Inventor： Craig Lewin Robinson , Volker Grabe , Colin Braley , Zachary Morriss , Stephanie McArthur , Andrew Crawford
Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.
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公开(公告)号：US20210011161A1
公开(公告)日：2021-01-14
申请号：US16506141
申请日：2019-07-09
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Christian Lauterbach , Colin Braley
Abstract: A system includes a light detection and ranging device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point. The system also includes a signal processor configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point. The system additionally includes an embedding model configured to determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values representative of the physical characteristics of the respective point. The system further includes a feature detector configured to detect or classify a physical feature based on (i) the corresponding positions of one or more points of the plurality of points and (ii) the corresponding vectors of the one or more points.
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Patent Agency Ranking
公开(公告)号：US10852731B1
公开(公告)日：2020-12-01
申请号：US15971704
申请日：2018-05-04
Applicant: Waymo LLC
Inventor： Colin Braley , Craig Lewin Robinson , Ionut Iordache
Abstract: Aspects of the disclosure provide for a method of calibrating a vehicle's plurality of detection systems. To calibrate a first detection system, orientation data is collected using the first detection device when the vehicle faces a first direction and a second direction opposite the first direction. To calibrate a second detection system, data is collected using the second detection device while the vehicle moves in a repeatable pattern near a first object. To calibrate a third detection system, light reflected off a second object is detected using the third detection system as the vehicle is moved towards the second object. To calibrate a fourth detection system, data collected using the second detection system and the fourth detection system is compared. To calibrate a fifth detection system, radar signals reflected off a third object is received using the fifth detection system while the vehicle moves relative to the third object.
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公开(公告)号：US12275430B2
公开(公告)日：2025-04-15
申请号：US18437476
申请日：2024-02-09
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US20240393443A1
公开(公告)日：2024-11-28
申请号：US18794511
申请日：2024-08-05
Applicant: Waymo LLC
Inventor： Gil Shotan , Colin Braley , Volker Grabe , Volodymyr Ivanchenko
Abstract: Example embodiments relate to methods for localizing light detection and ranging (lidar) calibration targets. An example method includes generating a point cloud of a region based on data from a light detection and ranging (lidar) device. The point cloud may include points representing at least a portion of a calibration target. The method also includes determining a presumed location of the calibration target. Further, the method includes identifying, within the point cloud, a location of a first edge of the calibration target. In addition, the method includes performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location. Still further, the method includes revising the presumed location of the calibration target based on at least the comparison.
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公开(公告)号：US20240385302A1
公开(公告)日：2024-11-21
申请号：US18785363
申请日：2024-07-26
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Volker Grabe , Christian Lauterbach
Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
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公开(公告)号：US20240182065A1
公开(公告)日：2024-06-06
申请号：US18437476
申请日：2024-02-09
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
CPC classification number: B60W60/001 , B62D15/021 , G01C21/3415 , G06V20/588 , G08G1/20 , H04W4/46 , B60W2420/408 , B60W2554/4049
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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