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公开(公告)号：US20240302838A1
公开(公告)日：2024-09-12
申请号：US18668912
申请日：2024-05-20
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Abhijit Ogale
CPC classification number: G05D1/0088 , B60W30/00 , G01S13/02 , G01S17/02 , G01S19/13 , G06V20/58 , G06V20/584
Abstract: Methods and systems for the use of detected objects for image processing are described. A computing device autonomously controlling a vehicle may receive images of the environment surrounding the vehicle from an image-capture device coupled to the vehicle. In order to process the images, the computing device may receive information indicating characteristics of objects in the images from one or more sources coupled to the vehicle. Examples of sources may include RADAR, LIDAR, a map, sensors, a global positioning system (GPS), or other cameras. The computing device may use the information indicating characteristics of the objects to process received images, including determining the approximate locations of objects within the images. Further, while processing the image, the computing device may use information from sources to determine portions of the image to focus upon that may allow the computing device to determine a control strategy based on portions of the image.
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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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公开(公告)号：US20220198807A1
公开(公告)日：2022-06-23
申请号：US17567729
申请日：2022-01-03
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting locations in an environment of a vehicle where objects are likely centered and determining properties of those objects. One of the methods includes receiving an input characterizing an environment external to a vehicle. For each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location is determined. Based on the first object scores, one or more locations from the plurality of locations are selected as locations in the environment at which respective objects are likely centered. Object properties of the objects that are likely centered at the selected locations are also determined.
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公开(公告)号：US20210232830A1
公开(公告)日：2021-07-29
申请号：US17212818
申请日：2021-03-25
Applicant: Waymo LLC
Inventor： Abhijit Ogale , David Ian Franklin Ferguson
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
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Patent Agency Ranking
公开(公告)号：US10963707B2
公开(公告)日：2021-03-30
申请号：US16713995
申请日：2019-12-13
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Dave Ferguson
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
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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：US20200242375A1
公开(公告)日：2020-07-30
申请号：US16853517
申请日：2020-04-20
Applicant: Waymo LLC
Inventor： Abhijit Ogale , Alexander Krizhevsky
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting locations in an environment of a vehicle where objects are likely centered and determining properties of those objects. One of the methods includes receiving an input characterizing an environment external to a vehicle. For each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location is determined. Based on the first object scores, one or more locations from the plurality of locations are selected as locations in the environment at which respective objects are likely centered. Object properties of the objects that are likely centered at the selected locations are also determined.
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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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