-
公开(公告)号：US11915490B2
公开(公告)日：2024-02-27
申请号：US17819883
申请日：2022-08-15
Applicant: Waymo LLC
Inventor： Dragomir Anguelov , Colin Andrew Braley , Christoph Sprunk
IPC: G06V20/56 , G06F18/214 , G06F18/2415
CPC classification number: G06V20/56 , G06F18/214 , G06F18/2415
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.
-
公开(公告)号：US20230298301A1
公开(公告)日：2023-09-21
申请号：US18201546
申请日：2023-05-24
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
CPC classification number: G06V10/25 , G06T7/90 , B60W60/001 , G06V20/58 , G06V10/751 , B60W2420/42 , G06T2207/30261 , B60W2554/802 , B60W2420/52
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
-
公开(公告)号：US11605173B2
公开(公告)日：2023-03-14
申请号：US17137243
申请日：2020-12-29
Applicant: Waymo LLC
Inventor： Colin Andrew Braley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for labeling point clouds using distance field data. One of the methods includes obtaining a point cloud characterizing a region of the environment, the point cloud comprising a plurality of points; obtaining distance field data specifying, for each of a plurality of locations in the region of the environment, a distance from the location to a nearest static object in the environment; determining, using the distance field data and for each of the plurality of points, a respective distance from the point to a nearest static object in the environment to the point; and identifying, based on the respective distances for the plurality of points in the point cloud, one or more of the points as candidate dynamic object points that are likely to be measurements of a dynamic object in the environment.
-
公开(公告)号：US20220179056A1
公开(公告)日：2022-06-09
申请号：US17115705
申请日：2020-12-08
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Antonio Teran Espinoza
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using naturally collected data in sensor calibration. One of the methods includes obtaining, using a first, calibrated sensor, a first plurality of raw sensor measurements of an environment; determining, from the first plurality of raw sensor measurements, a Truncated Signed Distance Field (TSDF)-based model of surfaces in the environment; obtaining, using a second sensor, a second plurality of raw sensor measurements of the environment; determining a multi-dimensional point cloud representation of the environment; and determining refined values of the set of calibration parameters of the second sensor based on a difference between, for each data point, (i) the multiple values that define the data point and (ii) multiple values that define a target data point derived from the TSDF-based model of surfaces in the environment.
-
Patent Agency Ranking
公开(公告)号：US20220108119A1
公开(公告)日：2022-04-07
申请号：US17064339
申请日：2020-10-06
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
-
公开(公告)号：US20220076082A1
公开(公告)日：2022-03-10
申请号：US17531444
申请日：2021-11-19
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
-
公开(公告)号：US20220058309A1
公开(公告)日：2022-02-24
申请号：US16947926
申请日：2020-08-24
Applicant: Waymo LLC
Inventor： Arthur Dov Safira , Harrison Lee McKenzie Chapter , Colin Andrew Braley , Hui Seong Son , Aleksandar Rumenov Gabrovski , Brian Choung Choi
Abstract: Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.
-
公开(公告)号：US11195064B2
公开(公告)日：2021-12-07
申请号：US16509152
申请日：2019-07-11
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
-
公开(公告)号：US20210012166A1
公开(公告)日：2021-01-14
申请号：US16509152
申请日：2019-07-11
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
-
-
-
-
-
-
-
-
Search Results
29
records
(took 0.033 seconds)
