-
公开(公告)号：US20220245835A1
公开(公告)日：2022-08-04
申请号：US17728682
申请日：2022-04-25
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
-
公开(公告)号：US10902272B2
公开(公告)日：2021-01-26
申请号：US16879299
申请日：2020-05-20
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
-
公开(公告)号：US20190392231A1
公开(公告)日：2019-12-26
申请号：US16018490
申请日：2018-06-26
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
-
公开(公告)号：US20240149906A1
公开(公告)日：2024-05-09
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
CPC classification number: B60W60/001 , G06N3/02 , B60W2420/42 , B60W2554/4049
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for predicting future trajectories for an agent in an environment. 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 in an. environment up to a current time point. The system identifies a plurality of initial target locations in the environment. The system further 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 starting from the current time point. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent that is a prediction of the future trajectory of 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 starting from the current time point, one or more of the predicted future trajectories.
-
公开(公告)号：US11782158B2
公开(公告)日：2023-10-10
申请号：US16229370
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： David Lee , Xiaohan Jin , Congcong Li , Nichola Abdo
IPC: G01S17/58 , G01S17/06 , G01S17/89 , G06N3/08 , G06V10/82 , G06N7/01 , G06T7/20 , G06V20/58 , B60W30/095
CPC classification number: G01S17/58 , G01S17/06 , G01S17/89 , G06N3/08 , G06N7/01 , G06V10/82 , B60W30/0956 , G06T7/20 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252 , G06V20/58
Abstract: Systems, methods, devices, and techniques for generating object-heading estimations. In one example, methods include actions of receiving sensor data representing measurements of an object that was detected within a proximity of a vehicle; processing the sensor data with one or more preliminary heading estimation subsystems to respectively generate one or more preliminary heading estimations for the object; processing two or more inputs with a second heading estimation subsystem to generate a refined heading estimation for the object, the two or more inputs including the one or more preliminary heading estimations for the object; and providing the refined heading estimation for the object to an external processing system.
-
Patent Agency Ranking
公开(公告)号：US11657291B2
公开(公告)日：2023-05-23
申请号：US17063553
申请日：2020-10-05
Applicant: Waymo LLC
Inventor： Jiyang Gao , Zijian Guo , Congcong Li
CPC classification number: G06V20/58 , G06N3/0454 , G06N3/08 , G06V10/757
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a spatio-temporal embedding of a sequence of point clouds. One of the methods includes obtaining a temporal sequence comprising a respective point cloud input corresponding to each of a plurality of time points, each point cloud input comprising point cloud data generated from sensor data captured by one or more sensors of a vehicle at the respective time point; processing each point cloud input using a first neural network to generate a respective spatial embedding that characterizes the point cloud input; and processing the spatial embeddings of the point cloud inputs using a second neural network to generate a spatio-temporal embedding that characterizes the point cloud inputs in the temporal sequence.
-
公开(公告)号：US11514310B2
公开(公告)日：2022-11-29
申请号：US16231297
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： Junhua Mao , Lo Po Tsui , Congcong Li , Edward Stephen Walker, Jr.
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a classifier to detect open vehicle doors. One of the methods includes obtaining a plurality of initial training examples, each initial training example comprising (i) a sensor sample from a collection of sensor samples and (ii) data classifying the sensor sample as characterizing a vehicle that has an open door; generating a plurality of additional training examples, comprising, for each initial training example: identifying, from the collection of sensor samples, one or more additional sensor samples that were captured less than a threshold amount of time before the sensor sample in the initial training example was captured; and training the machine learning classifier on first training data that includes the initial training examples and the additional training examples to generate updated weights for the machine learning classifier.
-
公开(公告)号：US20220374650A1
公开(公告)日：2022-11-24
申请号：US17836287
申请日：2022-06-09
Applicant: Waymo LLC
Inventor： Junhua Mao , Congcong Li , Yang Song
Abstract: Aspects of the subject matter disclosed herein include methods, systems, and other techniques for training, in a first phase, an object classifier neural network with a first set of training data, the first set of training data including a first plurality of training examples, each training example in the first set of training data being labeled with a coarse-object classification; and training, in a second phase after completion of the first phase, the object classifier neural network with a second set of training data, the second set of training data including a second plurality of training examples, each training example in the second set of training data being labeled with a fine-object classification.
-
公开(公告)号：US11480963B2
公开(公告)日：2022-10-25
申请号：US16723787
申请日：2019-12-20
Applicant: Waymo LLC
Inventor： Jiyang Gao , Junhua Mao , Yi Shen , Congcong Li , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating vehicle intent predictions using a neural network. One of the methods includes obtaining an input characterizing one or more vehicles in an environment; generating, from the input, features of each of the vehicles; and for each of the vehicles: processing the features of the vehicle using each of a plurality of intent-specific neural networks, wherein each of the intent-specific neural networks corresponds to a respective intent from a set of intents, and wherein each intent-specific neural network is configured to process the features of the vehicle to generate an output for the corresponding intent.
-
公开(公告)号：US20210284184A1
公开(公告)日：2021-09-16
申请号：US17194072
申请日：2021-03-05
Applicant: Waymo LLC
Inventor： Yang Song , Shuyang Cheng , Zijian Guo , Congcong Li , Chunyan Bai
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a point cloud augmentation policy and training a machine learning model using the point cloud augmentation policy to perform a perception task such as object detection or classification task by processing point cloud data. In general, training a machine learning model using the determined point cloud augmentation policy enables the model to more effectively perform the perception task, i.e., by generating higher quality perception outputs. When deployed within an on-board system of a vehicle, the machine learning model can further enable the on-board system to generate better-informed planning decisions which in turn result in a safer journey, even when the vehicle is navigating through unconventional environments or inclement weathers such as rain or snow.
-
-
-
-
-
-
-
-
-
Search Results
44
records
(took 0.023 seconds)
