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公开(公告)号：US20240054772A1
公开(公告)日：2024-02-15
申请号：US18492891
申请日：2023-10-24
Applicant: Waymo LLC
Inventor： Zhinan Xu , Maya Kabkab , Chen Wu , Woojong Koh
CPC classification number: G06V10/7784 , G05D1/0246 , G06T7/60 , G05D1/0088 , G06T7/90 , G06V20/20 , G06V20/582 , G06T2207/30252
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.
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公开(公告)号：US11755917B2
公开(公告)日：2023-09-12
申请号：US16734057
申请日：2020-01-03
Applicant: Waymo LLC
Inventor： Bradley Dodson , Zhinan Xu
CPC classification number: G06N3/084 , G05D1/0219 , G05D1/0221 , G06N3/08 , G06V10/764 , G06V10/82 , G06V20/56 , G06V20/58 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a depth map of a scene from a camera image using a neural network. One of the methods includes obtaining an image captured by a first sensor. A neural network processes the image to generate a respective score for each of a plurality of locations in the image. Known depth data specifying respective known depth values for some of the locations in the image is obtained. A depth output is generated that assigns a depth value to some of the locations in the image, including determining whether the score for a location exceeds a threshold; and when the score exceeds the threshold and the known depth value is available for the location, assigning the known depth value for the location to the location in the depth output.
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公开(公告)号：US11004000B1
公开(公告)日：2021-05-11
申请号：US15418981
申请日：2017-01-30
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Zhinan Xu
Abstract: The technology relates to predicting that an object is going to enter into a trajectory of a vehicle. This may include receiving sensor data identifying a first location of the object in an environment of the vehicle at a first point in time and receiving sensor data identifying a second location of the object in the environment at a second point in time. In addition, a boundary of the trajectory is determined by defining at least a two-dimensional area through which the vehicle is expected to travel in the future. A first distance between the boundary and the first location and a second distance between the trajectory and the second location are determined. The first distance and the second distance are used to determine that the object is going to enter into the trajectory at a future point in time.
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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
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.
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公开(公告)号：US12204969B2
公开(公告)日：2025-01-21
申请号：US17893376
申请日：2022-08-23
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data, for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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Patent Agency Ranking
公开(公告)号：US11958502B2
公开(公告)日：2024-04-16
申请号：US17037017
申请日：2020-09-29
Applicant: Waymo LLC
Inventor： Zhinan Xu
CPC classification number: B60W60/0015 , B60W30/09 , B60W30/0956 , G01C21/32 , G01C21/3461 , G06F18/22 , G06V20/58
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting foreign objects using a surfel map. One of the methods includes receiving sensor data representing reflection characteristics of electromagnetic waves in an operating environment of an autonomous vehicle. A surfel map representing a portion of the operating environment of the autonomous vehicle is used to determine that the reflection data includes one or more mismatched reflection characteristics for a particular surfel in the surfel map. In response, a foreign object is detected at a location corresponding to the particular surfel having the one or more mismatched reflection characteristics.
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公开(公告)号：US20230249712A1
公开(公告)日：2023-08-10
申请号：US17669215
申请日：2022-02-10
Applicant: Waymo LLC
Inventor： Xu Chen , Chao-Yeh Chen , Justin Yu Zheng , Zhinan Xu
IPC: B60W60/00 , G01S13/931 , G01S17/931 , G05B13/02 , G06N3/04 , G06V20/58 , G06V10/764 , G06V10/82
CPC classification number: B60W60/0015 , G01S13/931 , G01S17/931 , G05B13/027 , G06N3/0445 , G06N3/0454 , G06V20/58 , G06V10/764 , G06V10/82 , B60W2420/42 , B60W2420/52 , B60W2420/403 , B60W2554/4026 , B60W2554/4029
Abstract: The described aspects and implementations enable efficient calibration of a sensing system of a vehicle. In one implementation, disclosed is a method and a system to perform the method, the system including the sensing system configured to collect sensing data, characterizing an environment of the vehicle, the sensing data including infrared sensing data. The system further includes a data processing system operatively coupled to the sensing system and configured to process the sensing data using a classifier machine-learning model to obtain a classification of one or more vulnerable road users present in the environment of the vehicle.
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公开(公告)号：US11636362B1
公开(公告)日：2023-04-25
申请号：US17228974
申请日：2021-04-13
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Zhinan Xu
Abstract: The technology relates to predicting that an object is going to enter into a trajectory of a vehicle. This may include receiving sensor data identifying a first location of the object in an environment of the vehicle at a first point in time and receiving sensor data identifying a second location of the object in the environment at a second point in time. In addition, a boundary of the trajectory is determined by defining at least a two-dimensional area through which the vehicle is expected to travel in the future. A first distance between the boundary and the first location and a second distance between the trajectory and the second location are determined. The first distance and the second distance are used to determine that the object is going to enter into the trajectory at a future point in time.
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公开(公告)号：US20210303956A1
公开(公告)日：2021-09-30
申请号：US16827835
申请日：2020-03-24
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a first vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for a vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. The object is a static object may be determined. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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公开(公告)号：US20210191419A1
公开(公告)日：2021-06-24
申请号：US17150228
申请日：2021-01-15
Applicant: Waymo LLC
Inventor： Zhinan Xu , Maya Kabkab , Chen Wu , Woojong Koh
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.
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