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公开(公告)号：US11657536B2
公开(公告)日：2023-05-23
申请号：US17149621
申请日：2021-01-14
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60 , G06V20/56
CPC classification number: G06T7/80 , G01B11/2504 , G06T7/60 , H04N13/246 , H04N13/282 , G06T2207/30204 , G06V20/56
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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公开(公告)号：US20210229686A1
公开(公告)日：2021-07-29
申请号：US17186249
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Colin Braley , Volker Grabe
IPC: B60W50/029 , G05D1/00 , B60W50/02
Abstract: Aspects of the disclosure provides for a method for performing checks for a vehicle. In this regard, a plurality of performance checks may be identified including a first check for a detection system of a plurality of detection systems of the vehicle and a second check for map data. A test route for the vehicle may be determined based on a location of the vehicle and the plurality of performance checks. The vehicle may be controlled along the test route in an autonomous driving mode, while sensor data may be received from the plurality of detection systems of the vehicle. An operation mode may be selected based on results of the plurality of performance checks, and the vehicle may be operated in the selected operation mode.
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公开(公告)号：US12244485B1
公开(公告)日：2025-03-04
申请号：US18450743
申请日：2023-08-16
Applicant: Waymo LLC
Inventor： Volodymyr Ivanchenko , Volker Grabe
Abstract: A method includes monitoring, at a computing device, outputs of a sensor validator. Each output is generated by the sensor validator based on corresponding sensor data from a sensor coupled to an autonomous vehicle, and each output indicates whether the corresponding sensor data is associated with an event. The method also includes mutating, at the computing device, particular sensor data to generate mutated sensor data that is associated with a particular event. The method further includes determining, at the computing device, a performance metric associated with the sensor validator based on a particular output generated by the sensor validator. The particular output is based on the mutated sensor data.
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公开(公告)号：US11977167B2
公开(公告)日：2024-05-07
申请号：US17105141
申请日：2020-11-25
Applicant: Waymo LLC
Inventor： Sheng Zhao , Nicholas Lloyd Armstrong-Crews , Volker Grabe
IPC: H04N23/68 , G01S7/481 , G01S17/89 , G01S17/931 , G01S7/51
CPC classification number: G01S17/931 , G01S7/4817 , G01S17/89 , H04N23/689 , G01S7/51
Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.
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公开(公告)号：US20230234611A1
公开(公告)日：2023-07-27
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 , G08G1/20 , G01C21/3415 , H04W4/46 , B62D15/021 , G06V20/588 , 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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Patent Agency Ranking
公开(公告)号：US11634153B2
公开(公告)日：2023-04-25
申请号：US17138083
申请日：2020-12-30
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：US11341684B1
公开(公告)日：2022-05-24
申请号：US17163772
申请日：2021-02-01
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：US20220030218A1
公开(公告)日：2022-01-27
申请号：US17494978
申请日：2021-10-06
Applicant: Waymo LLC
Inventor： Chen David Lu , Matthew Rinehart , Volker Grabe
Abstract: Example embodiments relate to identifying defects in optical detector systems based on extent of stray light. An example embodiment includes a method. The method includes capturing, using an optical detector system, an image of a scene that includes a bright object. The method also includes determining a location of the bright object within the image. Further, the method includes determining, based on the location of the bright object within the image, an extent of stray light from the bright object that is represented in the image. In addition, the method includes determining, by comparing the extent of stray light from the bright object that is represented in the image to a predetermined threshold extent of stray light, whether one or more defects are present within the optical detector system. The predetermined threshold extent of stray light corresponds to an expected extent of stray light.
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公开(公告)号：US20210208283A1
公开(公告)日：2021-07-08
申请号：US17105141
申请日：2020-11-25
Applicant: Waymo LLC
Inventor： Sheng Zhao , Nicholas Lloyd Armstrong-Crews , Volker Grabe
IPC: G01S17/931 , G01S17/89 , G01S7/481 , H04N5/232
Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.
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公开(公告)号：US10960894B2
公开(公告)日：2021-03-30
申请号：US16219386
申请日：2018-12-13
Applicant: Waymo LLC
Inventor： Colin Braley , Volker Grabe
IPC: B60W50/029 , G05D1/00 , B60W50/02
Abstract: Aspects of the disclosure provides for a method for performing checks for a vehicle. In this regard, a plurality of performance checks may be identified including a first check for a detection system of a plurality of detection systems of the vehicle and a second check for map data. A test route for the vehicle may be determined based on a location of the vehicle and the plurality of performance checks. The vehicle may be controlled along the test route in an autonomous driving mode, while sensor data may be received from the plurality of detection systems of the vehicle. An operation mode may be selected based on results of the plurality of performance checks, and the vehicle may be operated in the selected operation mode.
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