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公开(公告)号：US20180345958A1
公开(公告)日：2018-12-06
申请号：US15611397
申请日：2017-06-01
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , Abhijit Ogale , David Ferguson
Abstract: In some implementations, an autonomous or semi-autonomous vehicle is capable of using a collision prediction system to determine a confidence that any objects detected within a vicinity of the vehicle are on a trajectory that will collide with the vehicle. Laser obstacle points derived from recent sensor readings of one or more sensors of a vehicle are initially obtained. The laser obstacle points are projected into a pose coordinate system to generate an occupancy grid of a vicinity of the vehicle. A confidence that any objects represented by the laser obstacle points are on a trajectory that will collide with the vehicle is determined by applying a particle filter to the occupancy grid.
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公开(公告)号：US09727795B1
公开(公告)日：2017-08-08
申请号：US15018077
申请日：2016-02-08
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
CPC classification number: G06K9/00798 , B60R1/00 , G06K9/00791 , G06K9/00805 , G06K9/00845 , G06K9/4647 , G06K9/4652 , G06K9/52 , G06K9/6215 , G06K2009/4666 , G06T7/20 , G06T7/408 , G06T2207/30256
Abstract: Methods and systems for real-time road flare detection using templates and appropriate color spaces are described. A computing device of a vehicle may be configured to receive an image of an environment of the vehicle. The computing device may be configured to identify a given pixels in the plurality of pixels having one or more of: (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value. Further, the computing device may be configured to make a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare; and determine a likelihood that the object represents the road flare.
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公开(公告)号：US12174640B2
公开(公告)日：2024-12-24
申请号：US18484090
申请日：2023-10-10
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Wan-Yen Lo , Nathaniel Fairfield
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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公开(公告)号：US11783180B1
公开(公告)日：2023-10-10
申请号：US16983957
申请日：2020-08-03
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky , Wan-Yen Lo
CPC classification number: G06N3/08 , G05D1/0088 , G06N3/04 , G06N7/01
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object predictions using a neural network. One of the methods includes receiving respective projections of a plurality of channels of input sensor data, wherein each channel of input sensor data represents different respective characteristics of electromagnetic radiation reflected off of one or more objects. Each of the projections of the plurality of channels of input sensor data are provided to a neural network subsystem trained to receive projections of input sensor data as input and to provide an object prediction as an output. At the output of the neural network subsystem, an object prediction that predicts a region of space that is likely to be occupied by an object is received.
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公开(公告)号：US11531894B1
公开(公告)日：2022-12-20
申请号：US17013117
申请日：2020-09-04
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky , Wan-Yen Lo
Abstract: A neural network system for identifying positions of objects in an input image can include an object detector neural network, a memory interface subsystem, and an external memory. The object detector neural network is configured to, at each time step of multiple successive time steps, (i) receive a first neural network input that represents the input image and a second neural network input that identifies a first set of positions of the input image that have each been classified as showing a respective object of the set of objects, and (ii) process the first and second inputs to generate a set of output scores that each represents a respective likelihood that an object that is not one of the objects shown at any of the positions in the first set of positions is shown at a respective position of the input image that corresponds to the output score.
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Patent Agency Ranking
公开(公告)号：US11281918B1
公开(公告)日：2022-03-22
申请号：US17076416
申请日：2020-10-21
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David I. Ferguson
IPC: G06K9/00 , G06T15/20 , B60W30/00 , G01C21/00 , G05D1/02 , G06T7/50 , G06T7/70 , B60R1/00 , B60R11/04 , G05D1/00 , G06K9/62 , G06T17/10
Abstract: Disclosed herein are methods and systems for determining a location of an object within an environment. An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.
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公开(公告)号：US10853668B1
公开(公告)日：2020-12-01
申请号：US16227074
申请日：2018-12-20
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David I. Ferguson
IPC: G06K9/00 , G06K9/62 , B60R11/04 , B60W30/00 , G06T17/10 , G06T15/20 , G06T7/70 , G06T7/50 , G05D1/02 , G05D1/00 , G01C21/00 , B60R1/00
Abstract: Disclosed herein are methods and systems for determining a location of an object within an environment. An example method may include determining a three-dimensional (3D) location of a plurality of reference points in an environment, receiving a two-dimensional (2D) image of a portion of the environment that contains an object, selecting certain reference points from the plurality of reference points that form a polygon when projected into the 2D image that contains at least a portion of the object, determining an intersection point of a ray directed toward the object and a 3D polygon formed by the selected reference points, and based on the intersection point of the ray directed toward the object and the 3D polygon formed by the selected reference points, determining a 3D location of the object in the environment.
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公开(公告)号：US10769809B1
公开(公告)日：2020-09-08
申请号：US16022901
申请日：2018-06-29
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky , Wan-Yen Lo
Abstract: A neural network system for identifying positions of objects in an input image can include an object detector neural network, a memory interface subsystem, and an external memory. The object detector neural network is configured to, at each time step of multiple successive time steps, (i) receive a first neural network input that represents the input image and a second neural network input that identifies a first set of positions of the input image that have each been classified as showing a respective object of the set of objects, and (ii) process the first and second inputs to generate a set of output scores that each represents a respective likelihood that an object that is not one of the objects shown at any of the positions in the first set of positions is shown at a respective position of the input image that corresponds to the output score.
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公开(公告)号：US10733506B1
公开(公告)日：2020-08-04
申请号：US15378845
申请日：2016-12-14
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky , Wan-Yen Lo
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object predictions using a neural network. One of the methods includes receiving respective projections of a plurality of channels of input sensor data, wherein each channel of input sensor data represents different respective characteristics of electromagnetic radiation reflected off of one or more objects. Each of the projections of the plurality of channels of input sensor data are provided to a neural network subsystem trained to receive projections of input sensor data as input and to provide an object prediction as an output. At the output of the neural network subsystem, an object prediction that predicts a region of space that is likely to be occupied by an object is received.
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公开(公告)号：US10678258B2
公开(公告)日：2020-06-09
申请号：US16191835
申请日：2018-11-15
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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