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    STRUCTURED MULTI-AGENT INTERACTIVE TRAJECTORY FORECASTING
    41.
    发明公开
    STRUCTURED MULTI-AGENT INTERACTIVE TRAJECTORY FORECASTING 审中-公开

    公开(公告)号：US20230406361A1

    公开(公告)日：2023-12-21

    申请号：US18335920

    申请日：2023-06-15

    Applicant: Waymo LLC

    Inventor： Wenjie Luo ,  Cheolho Park ,  Dragomir Anguelov ,  Benjamin Sapp

    IPC: B60W60/00 ,  B60W50/00

    CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2554/4029 ,  B60W2554/4026 ,  B60W2554/4046

    Abstract: Methods, systems, and apparatus for generating trajectory predictions for one or more agents. In one aspect, a system comprises one or more computers configured to obtain scene context data characterizing a scene in an environment at a current time point, where the scene includes multiple agents. The one or more computers process the scene context data using a marginal trajectory prediction neural network to generate a respective marginal trajectory prediction for each of the plurality of agents that defines multiple possible trajectories for the agent after the current time point and a respective likelihood score for each of the multiple possible future trajectories. The one or more computers can generate graph data based on the respective marginal trajectory predictions, and the one or more computers can process the graph data using a graph neural network to generate a joint trajectory prediction output for the multiple agents in the scene.

    PERFORMING POINT CLOUD TASKS USING MULTI-SCALE FEATURES GENERATED THROUGH SELF-ATTENTION
    42.
    发明公开
    PERFORMING POINT CLOUD TASKS USING MULTI-SCALE FEATURES GENERATED THROUGH SELF-ATTENTION 审中-公开

    公开(公告)号：US20230351691A1

    公开(公告)日：2023-11-02

    申请号：US18120989

    申请日：2023-03-13

    Applicant: Waymo LLC

    Inventor： Pei Sun ,  Mingxing Tan ,  Weiyue Wang ,  Fei Xia ,  Zhaoqi Leng ,  Dragomir Anguelov ,  Chenxi Liu

    IPC: G06T17/20

    CPC classification number: G06T17/20 ,  G06T2210/56

    Abstract: Methods, systems, and apparatus for processing point clouds using neural networks to perform a machine learning task. In one aspect, a system comprises one or more computers configured to obtain a set of point clouds captured by one or more sensors. Each point cloud includes a respective plurality of three-dimensional points. The one or more computers assign the three-dimensional points to respective voxels in a voxel grid, where the grid of voxels includes non-empty voxels to which one or more points are assigned and empty voxels to which no points are assigned. For each non-empty voxel, the one or more computers generate initial features based on the points that are assigned to the non-empty voxel. The one or more computers generate multi-scale features of the voxel grid, and the one or more computers generate an output for a point cloud processing task using the multi-scale features of the voxel grid.

    TIME-LINE BASED OBJECT TRACKING ANNOTATION
    43.
    发明申请
    TIME-LINE BASED OBJECT TRACKING ANNOTATION 有权

    公开(公告)号：US20220358314A1

    公开(公告)日：2022-11-10

    申请号：US17314925

    申请日：2021-05-07

    Applicant: Waymo LLC

    Inventor： Yulai Shen ,  Henrik Kretzschmar ,  Jeffrey Sham ,  Jeffrey Carlson ,  Lo Po Tsui ,  Dragomir Anguelov

    IPC: G06K9/00 ,  G06K9/32 ,  G06N20/00

    Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating and editing object track labels for objects detected in video data. One of the methods includes obtaining a video segment comprising multiple image frames associated with multiple time points; obtaining object track data specifying a set of object tracks; providing, for presentation to a user, a user interface for modifying the object track data, the user interface displaying object timeline representations of the object tracks; receiving one or more user inputs that indicate one or more modifications to the object timeline representations; updating the object timeline representations displayed in the timeline display area; and updating the object track data according to the updated object timeline representations.

    ANNOTATED SURFEL MAPS
    45.
    发明申请
    ANNOTATED SURFEL MAPS 有权

    公开(公告)号：US20220076030A1

    公开(公告)日：2022-03-10

    申请号：US17015809

    申请日：2020-09-09

    Applicant: Waymo LLC

    Inventor： Dragomir Anguelov ,  Colin Andrew Braley ,  Christoph Sprunk

    IPC: G06K9/00 ,  G06K9/62

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

    Generating Environmental Data
    46.
    发明申请
    Generating Environmental Data 有权

    公开(公告)号：US20210150799A1

    公开(公告)日：2021-05-20

    申请号：US17098943

    申请日：2020-11-16

    Applicant: Waymo LLC

    Inventor： Zhenpei Yang ,  Yuning Chai ,  Yin Zhou ,  Pei Sun ,  Henrik Kretzschmar ,  Sean Rafferty ,  Dumitru Erhan ,  Dragomir Anguelov

    IPC: G06T15/04 ,  G06T9/00 ,  G06T7/70 ,  G06N3/04 ,  G06N3/08 ,  B60W60/00 ,  B60W30/095 ,  B60W50/06

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.

    EFFICIENT SEARCH FOR DATA AUGMENTATION POLICIES
    50.
    发明公开
    EFFICIENT SEARCH FOR DATA AUGMENTATION POLICIES 审中-公开

    公开(公告)号：US20240232647A9

    公开(公告)日：2024-07-11

    申请号：US18492646

    申请日：2023-10-23

    Applicant: Waymo LLC

    Inventor： Zhaoqi Leng ,  Guowang Li ,  Chenxi Liu ,  Pei Sun ,  Tong He ,  Dragomir Anguelov ,  Mingxing Tan

    IPC: G06N3/0985

    CPC classification number: G06N3/0985

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a machine learning model on training data. In one aspect, one of the methods include: obtaining a training data set comprising a plurality of training inputs; obtaining data defining an original search space of a plurality of candidate data augmentation policies; generating, from the original search space, a compact search space that has one or more global hyperparameters; and training the machine learning model on the training data using one or more final data augmentation policies generated from the compact search space.

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