公开(公告)号：US12049221B2

公开(公告)日：2024-07-30

申请号：US17540140

申请日：2021-12-01

Applicant: Waymo LLC

Inventor： Pei Sun ,  Hang Zhao ,  Alexander McCauley ,  Benjamin Sapp ,  Jiyang Gao ,  Dragomir Anguelov ,  Xin Huang ,  Kyriacos Christoforos Shiarlis

IPC: B60W30/095 ,  B60W40/04 ,  B60W50/00 ,  B60W60/00 ,  G06N3/049

CPC classification number: B60W30/0956 ,  B60W40/04 ,  B60W50/0097 ,  B60W60/00274 ,  G06N3/049

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using temporal-spatial interaction predictions.

公开(公告)号：US11987265B1

公开(公告)日：2024-05-21

申请号：US17387852

申请日：2021-07-28

Applicant: Waymo LLC

Inventor： Hang Zhao ,  Jiyang Gao ,  Chen Sun ,  Yi Shen ,  Yuning Chai ,  Cordelia Luise Schmid ,  Congcong Li ,  Benjamin Sapp ,  Dragomir Anguelov ,  Tian Lan ,  Yue Shen

IPC: B60W60/00 ,  G06N3/02

CPC classification number: B60W60/001 ,  G06N3/02 ,  B60W2420/42 ,  B60W2554/4049

Abstract: A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle up to a current time point. The system identifies a plurality of initial target locations, and generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent, one or more of the predicted future trajectories.

公开(公告)号：US20220156972A1

公开(公告)日：2022-05-19

申请号：US17526682

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Yu-Han Chen ,  Maya Kabkab ,  Ruichi Yu ,  Yingwei Li ,  Hang Zhao ,  Yu Ouyang

IPC: G06T7/73 ,  G06N3/04 ,  G01S17/89

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a distance estimate for a target object that is depicted in an image of a scene in an environment. The system obtains data specifying (i) a target portion of the image that depicts the target object detected in the image, and (ii) one or more reference portions of the image that each depict a respective reference object detected in the image. The system further obtains, for each of the one or more reference objects, a respective distance measurement for the reference object that is a measurement of a distance from the reference object to a specified location in the environment. The system processes the obtained data to generate a distance estimate for the target object that is an estimate of a distance from the target object to the specified location in the environment.

公开(公告)号：US20210390407A1

公开(公告)日：2021-12-16

申请号：US17344254

申请日：2021-06-10

Applicant: Waymo LLC

Inventor： Vincent Michael Casser ,  Yuning Chai ,  Dragomir Anguelov ,  Hang Zhao ,  Henrik Kretzschmar ,  Reza Mahjourian ,  Anelia Angelova ,  Ariel Gordon ,  Soeren Pirk

IPC: G06N3/08 ,  G06K9/62 ,  G06K9/00

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for training a perspective computer vision model. The model is configured to receive input data characterizing an input scene in an environment from an input viewpoint and to process the input data in accordance with a set of model parameters to generate an output perspective representation of the scene from the input viewpoint. The system trains the model based on first data characterizing a scene in the environment from a first viewpoint and second data characterizing the scene in the environment from a second, different viewpoint.