公开(公告)号：US20230262202A1

公开(公告)日：2023-08-17

申请号：US18305478

申请日：2023-04-24

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  G01S17/931 ,  G01S7/497 ,  B60W30/095 ,  G08G1/04 ,  G08G1/01 ,  B60W60/00 ,  G01S17/86 ,  G01S7/483 ,  G01S17/89 ,  G01W1/06 ,  G05D1/00 ,  G08G1/048 ,  G06V10/44 ,  G06V20/56 ,  H04N23/69 ,  G06V10/88

CPC classification number: H04N7/18 ,  G01S17/931 ,  G01S7/497 ,  B60W30/0956 ,  G08G1/04 ,  G08G1/0116 ,  B60W60/001 ,  G08G1/0112 ,  G01S17/86 ,  G01S7/483 ,  G01S17/89 ,  G01W1/06 ,  G05D1/0088 ,  G08G1/048 ,  G06V10/44 ,  G06V20/56 ,  H04N23/69 ,  G06V10/89 ,  B60W2556/45 ,  B60W2420/42 ,  B60W2420/52 ,  G05D1/0251

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US12120463B2

公开(公告)日：2024-10-15

申请号：US18305478

申请日：2023-04-24

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  B60W30/095 ,  B60W60/00 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/00 ,  G06V10/44 ,  G06V10/88 ,  G06V20/56 ,  G08G1/01 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69

CPC classification number: H04N7/18 ,  B60W30/0956 ,  B60W60/001 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/0088 ,  G06V10/44 ,  G06V10/89 ,  G06V20/56 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2556/45 ,  G05D1/0251 ,  G05D1/0257

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US20220169244A1

公开(公告)日：2022-06-02

申请号：US17540140

申请日：2021-12-01

Applicant: Waymo LLC

Inventor： Pei Sun ,  Hang Zhao ,  Alexander McCauley ,  Benjamin Sapp ,  Jiyang Gao ,  Dragomir Anguelov ,  Xin Huang ,  Kyriacos Christoforos Shiarlis

IPC: B60W30/095 ,  B60W60/00 ,  B60W50/00 ,  B60W40/04 ,  G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using temporal-spatial interaction predictions.

公开(公告)号：US12049221B2

公开(公告)日：2024-07-30

申请号：US17540140

申请日：2021-12-01

Applicant: Waymo LLC

Inventor： Pei Sun ,  Hang Zhao ,  Alexander McCauley ,  Benjamin Sapp ,  Jiyang Gao ,  Dragomir Anguelov ,  Xin Huang ,  Kyriacos Christoforos Shiarlis

IPC: B60W30/095 ,  B60W40/04 ,  B60W50/00 ,  B60W60/00 ,  G06N3/049

CPC classification number: B60W30/0956 ,  B60W40/04 ,  B60W50/0097 ,  B60W60/00274 ,  G06N3/049

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using temporal-spatial interaction predictions.

公开(公告)号：US20210191399A1

公开(公告)日：2021-06-24

申请号：US17002092

申请日：2020-08-25

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: G05D1/00 ,  G08G1/048 ,  G01S7/483 ,  G01S17/89 ,  G01W1/06

Abstract: Disclosed are systems and methods that can be used for adjusting the field of view of one or more sensors of an autonomous vehicle. In the systems and methods, each sensor of the one or more sensors is configured to operate in accordance with a field of view volume up to a maximum field of view volume. The systems and methods include determining an operating environment of an autonomous vehicle. The systems and methods also include based on the determined operating environment of the autonomous vehicle, adjusting a field of view volume of at least one sensor of the one or more sensors from a first field of view volume to an adjusted field of view volume different from the first field of view volume. Additionally, the systems and methods include controlling the autonomous vehicle to operate using the at least one sensor having the adjusted field of view volume.

公开(公告)号：US20210152754A1

公开(公告)日：2021-05-20

申请号：US17024485

申请日：2020-09-17

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: H04N5/33 ,  G06N3/08 ,  G01J5/04 ,  G01J5/02 ,  G01S17/87 ,  G06K9/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US11178348B2

公开(公告)日：2021-11-16

申请号：US17024485

申请日：2020-09-17

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: H04N5/33 ,  G06K9/00 ,  G06N3/08 ,  G01S17/87 ,  G01J5/04 ,  G01J5/02 ,  G01J5/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US10819923B1

公开(公告)日：2020-10-27

申请号：US16688081

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: G06K9/00 ,  H04N5/33 ,  G06N3/08 ,  G01J5/04 ,  G01S17/87 ,  G01J5/02 ,  G01J5/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US10302749B2

公开(公告)日：2019-05-28

申请号：US16120361

申请日：2018-09-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S17/89 ,  G01S7/497 ,  G01S17/42 ,  G01S17/02

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.

公开(公告)号：US20180372853A1

公开(公告)日：2018-12-27

申请号：US16120361

申请日：2018-09-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S7/497 ,  G01S17/89 ,  G01S17/42

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.