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公开(公告)号：US10943367B1
公开(公告)日：2021-03-09
申请号：US16032417
申请日：2018-07-11
Applicant: Waymo LLC
Inventor： Craig Lewin Robinson , Volker Grabe , Colin Braley , Zachary Morriss , Stephanie McArthur , Andrew Crawford
Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.
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公开(公告)号：US12275430B2
公开(公告)日：2025-04-15
申请号：US18437476
申请日：2024-02-09
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US20240393443A1
公开(公告)日：2024-11-28
申请号：US18794511
申请日：2024-08-05
Applicant: Waymo LLC
Inventor： Gil Shotan , Colin Braley , Volker Grabe , Volodymyr Ivanchenko
Abstract: Example embodiments relate to methods for localizing light detection and ranging (lidar) calibration targets. An example method includes generating a point cloud of a region based on data from a light detection and ranging (lidar) device. The point cloud may include points representing at least a portion of a calibration target. The method also includes determining a presumed location of the calibration target. Further, the method includes identifying, within the point cloud, a location of a first edge of the calibration target. In addition, the method includes performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location. Still further, the method includes revising the presumed location of the calibration target based on at least the comparison.
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公开(公告)号：US20240385302A1
公开(公告)日：2024-11-21
申请号：US18785363
申请日：2024-07-26
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Volker Grabe , Christian Lauterbach
Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
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公开(公告)号：US20240182065A1
公开(公告)日：2024-06-06
申请号：US18437476
申请日：2024-02-09
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
CPC classification number: B60W60/001 , B62D15/021 , G01C21/3415 , G06V20/588 , G08G1/20 , H04W4/46 , B60W2420/408 , B60W2554/4049
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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Patent Agency Ranking
公开(公告)号：US20240056565A1
公开(公告)日：2024-02-15
申请号：US18492528
申请日：2023-10-23
Applicant: Waymo LLC
Inventor： Chen David Lu , Matthew Rinehart , Volker Grabe
CPC classification number: H04N17/002 , G06T7/70 , G06T7/0002 , H04N23/71 , G06T2207/30252 , G06T2207/30168
Abstract: Example embodiments relate to identifying defects in optical detector systems based on extent of stray light. An example embodiment includes a method. The method includes capturing, using an optical detector system, an image of a scene that includes a bright object. The method also includes determining a location of the bright object within the image. Further, the method includes determining, based on the location of the bright object within the image, an extent of stray light from the bright object that is represented in the image. In addition, the method includes determining, by comparing the extent of stray light from the bright object that is represented in the image to a predetermined threshold extent of stray light, whether one or more defects are present within the optical detector system. The predetermined threshold extent of stray light corresponds to an expected extent of stray light.
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公开(公告)号：US11172192B2
公开(公告)日：2021-11-09
申请号：US16377527
申请日：2019-04-08
Applicant: Waymo LLC
Inventor： Chen David Lu , Matthew Rinehart , Volker Grabe
Abstract: Example embodiments relate to identifying defects in optical detector systems based on extent of stray light. An example embodiment includes a method. The method includes capturing, using an optical detector system, an image of a scene that includes a bright object. The method also includes determining a location of the bright object within the image. Further, the method includes determining, based on the location of the bright object within the image, an extent of stray light from the bright object that is represented in the image. In addition, the method includes determining, by comparing the extent of stray light from the bright object that is represented in the image to a predetermined threshold extent of stray light, whether one or more defects are present within the optical detector system. The predetermined threshold extent of stray light corresponds to an expected extent of stray light.
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公开(公告)号：US20210197854A1
公开(公告)日：2021-07-01
申请号：US17138083
申请日：2020-12-30
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US20210134012A1
公开(公告)日：2021-05-06
申请号：US17149621
申请日：2021-01-14
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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公开(公告)号：US10930014B2
公开(公告)日：2021-02-23
申请号：US16547427
申请日：2019-08-21
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60 , G06K9/00
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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