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公开(公告)号：US20220083073A1
公开(公告)日：2022-03-17
申请号：US17021828
申请日：2020-09-15
Applicant: Waymo LLC
Inventor： David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing data characterizing a first region in an environment to generate a prediction characterizing a second region in the environment. One of the methods includes obtaining surfel data comprising a plurality of surfels; obtaining sensor data for a plurality of locations in a first region of the environment; determining, from the surfel data, a plurality of first surfels corresponding to respective locations in the first region of the environment; determining, using the first surfels and the sensor data, a difference between i) a first representation of the first region of the environment corresponding to the first surfels and ii) a second representation of the first region of the environment corresponding to the sensor data; and generating a respective object prediction for one or more locations in a second region of the environment.
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公开(公告)号：US10670725B2
公开(公告)日：2020-06-02
申请号：US15658800
申请日：2017-07-25
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US11734880B2
公开(公告)日：2023-08-22
申请号：US17139557
申请日：2020-12-31
Applicant: Waymo LLC
Inventor： Christian Lauterbach , Colin Andrew Braley , Carlos Hernandez Esteban , Michael Montemerlo
IPC: G06T17/00 , G06T15/20 , G01C21/36 , G06V20/20 , G06V20/56 , G01S17/89 , G06T17/05 , G06T17/20 , G01S17/88 , G06V20/58 , G06V10/44 , G06F18/24 , G06F18/2113
CPC classification number: G06T17/00 , G01C21/3667 , G01S17/88 , G01S17/89 , G06F18/2113 , G06F18/24 , G06T15/205 , G06T17/05 , G06T17/20 , G06V10/44 , G06V20/20 , G06V20/56 , G06V20/58 , G06T2207/10028 , G06T2210/56
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sensor calibration with environment map. In some implementations, a three-dimensional surfel representation of a real-world environment is obtained. One or more surfels of the surfel representation having a particular classification of the different classifications are selected. Input sensor data from one or more sensors installed on an autonomous or semi-autonomous vehicle are received. The input sensor data is compared to the surfel representation to identify one or more differences between the observation and the surfel representation. At least one sensor of the one or more sensors is calibrated using the one or more differences between the observation and the surfel representation.
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公开(公告)号：US11699274B2
公开(公告)日：2023-07-11
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
CPC classification number: G06V10/25 , B60W60/001 , G06T7/90 , G06V10/751 , G06V20/58 , B60W2420/42 , B60W2420/52 , B60W2554/802 , G06T2207/30261
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.
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公开(公告)号：US11676392B2
公开(公告)日：2023-06-13
申请号：US16892186
申请日：2020-06-03
Applicant: Waymo LLC
Inventor： Michael Montemerlo
CPC classification number: G01C21/3602 , G05D1/0285 , G06F18/2431 , G06V20/56 , G06V20/653
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using surfels for vehicle localization. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises a stability measure, wherein the stability measure characterizes a permanence of a surface represented by the surfel; obtaining sensor data for a plurality of locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining a plurality of high-stability surfels from the plurality of surfels in the surfel data; and determining a location in the environment of the first vehicle using the plurality of selected high-stability surfels and the sensor data.
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Patent Agency Ranking
公开(公告)号：US11675084B2
公开(公告)日：2023-06-13
申请号：US16856275
申请日：2020-04-23
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
CPC classification number: G01S17/89 , G01S7/4808 , G01S7/497 , G06V10/751 , G06V20/56 , H04N7/185
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US20220221280A1
公开(公告)日：2022-07-14
申请号：US17708477
申请日：2022-03-30
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
Abstract: Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
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公开(公告)号：US11320272B2
公开(公告)日：2022-05-03
申请号：US16922052
申请日：2020-07-07
Applicant: Waymo LLC
Inventor： Samuel Panzer , Michael Montemerlo , Michael James
Abstract: Aspects of the disclosure provide for localizing a vehicle. In one instance, a weather condition in which the vehicle is currently driving may be identified. A plurality of sensor inputs including intensity information, elevation information, and radar sensor information may be received. For each of the plurality of sensor inputs, an alignment score is determined by comparing the intensity information, elevation information, and radar sensor information to a corresponding pre-stored image for each of the intensity information, the elevation information, and the radar sensor information. A set of weights for the plurality of sensor inputs may be determined based on the identified weather condition. The alignment scores may then be combined using the set of weights in order to localize the vehicle.
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公开(公告)号：US20220075382A1
公开(公告)日：2022-03-10
申请号：US17012458
申请日：2020-09-04
Applicant: Waymo LLC
Inventor： Michael Montemerlo , Peter Michal Pawlowski , Joy Weng Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for updating data of a map. One of the methods includes storing a map of an environment, the map comprising surfels and a road graph; receiving new surfel data for the surfels; adjusting the surfels based on the new surfel data; determining a vector field difference between the surfels of the stored map and the adjusted surfels; adjusting a portion of the road graph based on the vector field difference; generating an updated map comprising the adjusted surfels and the adjusted portion of the road graph; and storing the updated map.
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公开(公告)号：US20220063662A1
公开(公告)日：2022-03-03
申请号：US17003827
申请日：2020-08-26
Applicant: Waymo LLC
Inventor： Christoph Sprunk , David Harrison Silver , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , David Yonchar Margines
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for autonomous driving with surfel maps. In some implementations, a three-dimensional representation of a real-world environment is obtained. Each of the surfels can correspond to a respective point of plurality of points in a three-dimensional space of the real-world environment. Input sensor data is received from multiple sensors installed on the autonomous vehicle. A pedestrian is detected from the input sensor data. A determination is made that the pedestrian is located behind a barrier. A driving plan is updated based on determining that the pedestrian is located behind a barrier.
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