公开(公告)号：US20230377164A1

公开(公告)日：2023-11-23

申请号：US17748460

申请日：2022-05-19

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yulai Shen ,  Congyu Gao ,  Sakshi Madan

IPC: G06T7/187 ,  G06V20/64 ,  G06V10/25 ,  G06T7/50

CPC classification number: G06T7/187 ,  G06V20/647 ,  G06V10/25 ,  G06T7/50 ,  G06T2207/10028

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating label data for one or more target objects in an environment. The system obtains first data characterizing the environment, wherein the first data includes position data characterizing a position of the target object. The system obtains second data including one or more three-dimensional (3D) frames characterizing the environment. The system determines, based on the first data, a guide feature for locating the target object in the 3D frames of the second data. The system receives a first user input that specifies at least an object position in the selected 3D frame, and generates label data for the target object based on the first user input.

公开(公告)号：US20230119634A1

公开(公告)日：2023-04-20

申请号：US17451558

申请日：2021-10-20

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yiran Zhang

IPC: G06K9/00 ,  G06K9/62 ,  B60W60/00

Abstract: The described aspects and implementations enable efficient identification of real and image signs in autonomous vehicle (AV) applications. In one implementation, disclosed is a method and a system to perform the method that includes obtaining, using a sensing system of the AV, a combined image that includes a camera image and a depth information for a region of an environment of the AV, classifying a first sign in the combined image as an image-true sign, performing a spatial validation of the first sign, which includes evaluation of a spatial relationship of the first sign and one or more objects in the region of the environment of the AV, and identifying, based on the performed spatial validation, the first sign as a real sign.

公开(公告)号：US10928828B2

公开(公告)日：2021-02-23

申请号：US16220225

申请日：2018-12-14

Applicant: Waymo LLC

Inventor： Zhinan Xu ,  Maya Kabkab ,  Chen Wu ,  Woojong Koh

IPC: G05D1/02 ,  G06K9/00 ,  G06T7/60 ,  G05D1/00 ,  G06T7/90

Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.