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公开(公告)号：US10198641B2
公开(公告)日：2019-02-05
申请号：US15379757
申请日：2016-12-15
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David I. Ferguson
IPC: G06T7/50 , G06F1/00 , G06T15/20 , G06K9/00 , B60W30/00 , G01C21/00 , G05D1/02 , G06T7/70 , B60R1/00 , B60R11/04 , G05D1/00 , G06K9/62 , G06T17/10
Abstract: Disclosed herein are methods and systems for determining a location of an object within an environment. An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.
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公开(公告)号：US10013773B1
公开(公告)日：2018-07-03
申请号：US15381288
申请日：2016-12-16
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky , Wan-Yen Lo
CPC classification number: G06N3/08 , G06K9/00791 , G06K9/627 , G06K9/68 , G06N3/0454 , G06N3/084 , G06T7/74 , G06T2207/10024 , G06T2207/20081 , G06T2207/20084
Abstract: A neural network system for identifying positions of objects in an input image can include an object detector neural network, a memory interface subsystem, and an external memory. The object detector neural network is configured to, at each time step of multiple successive time steps, (i) receive a first neural network input that represents the input image and a second neural network input that identifies a first set of positions of the input image that have each been classified as showing a respective object of the set of objects, and (ii) process the first and second inputs to generate a set of output scores that each represents a respective likelihood that an object that is not one of the objects shown at any of the positions in the first set of positions is shown at a respective position of the input image that corresponds to the output score.
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公开(公告)号：US09864378B1
公开(公告)日：2018-01-09
申请号：US15594191
申请日：2017-05-12
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo , Nathaniel Fairfield
CPC classification number: G05D1/0246 , B60W40/04 , B60W2050/0077 , B60W2050/0215 , G05D1/00 , G05D1/0022 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G07C5/008 , H04L67/125
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US09767370B1
公开(公告)日：2017-09-19
申请号：US15215890
申请日：2016-07-21
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson
CPC classification number: G06K9/00805 , G06K9/00536 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/4604 , G06K9/4652
Abstract: Aspects of the disclosure relate to identifying construction objects. As an example, an image captured by a camera associated with a vehicle as the vehicle is driven along a roadway may be received. This image may be converted into a first channel corresponding to an average brightness contribution from red, blue and green channels of the image. The image may also be converted into a second channel corresponding to a contribution of a color from the red and the green channels of the image. A template may then be used to identify a region of the image corresponding to a potential construction object from the first channel and the second channel.
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公开(公告)号：US11815903B2
公开(公告)日：2023-11-14
申请号：US17192089
申请日：2021-03-04
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
IPC: G01C22/00 , G05D1/00 , G05D1/02 , B60W40/04 , G06V20/56 , G06V20/58 , G07C5/00 , B60W50/02 , B60W50/00 , H04L67/125
CPC classification number: G05D1/0246 , B60W40/04 , G05D1/00 , G05D1/0022 , G05D1/0088 , G06V20/56 , G06V20/58 , G07C5/008 , B60W2050/0075 , B60W2050/0215 , B60W2556/45 , H04L67/125
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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Patent Agency Ranking
公开(公告)号：US11281230B2
公开(公告)日：2022-03-22
申请号：US16837017
申请日：2020-04-01
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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公开(公告)号：US20210364637A1
公开(公告)日：2021-11-25
申请号：US17394861
申请日：2021-08-05
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Wan-Yen Lo , Alper Ayvaci , Abhijit Ogale , Hyman Murveit
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a location of a particular object relative to a vehicle. In one aspect, a method includes obtaining sensor data captured by one or more sensors of a vehicle. The sensor data is processed by a convolutional neural network to generate a sensor feature representation of the sensor data. Data is obtained which defines a particular spatial region in the sensor data that has been classified as including sensor data that characterizes the particular object. An object feature representation of the particular object is generated from a portion of the sensor feature representation corresponding to the particular spatial region. The object feature representation of the particular object is processed using a localization neural network to generate the location of the particular object relative to the vehicle.
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公开(公告)号：US11105924B2
公开(公告)日：2021-08-31
申请号：US16151880
申请日：2018-10-04
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Wan-Yen Lo , Alper Ayvaci , Abhijit Ogale , Hyman Murveit
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a location of a particular object relative to a vehicle. In one aspect, a method includes obtaining sensor data captured by one or more sensors of a vehicle. The sensor data is processed by a convolutional neural network to generate a sensor feature representation of the sensor data. Data is obtained which defines a particular spatial region in the sensor data that has been classified as including sensor data that characterizes the particular object. An object feature representation of the particular object is generated from a portion of the sensor feature representation corresponding to the particular spatial region. The object feature representation of the particular object is processed using a localization neural network to generate the location of the particular object relative to the vehicle.
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公开(公告)号：US20210191420A1
公开(公告)日：2021-06-24
申请号：US17192089
申请日：2021-03-04
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US10401859B1
公开(公告)日：2019-09-03
申请号：US15915383
申请日：2018-03-08
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
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