公开(公告)号：US20220391616A1

公开(公告)日：2022-12-08

申请号：US17341255

申请日：2021-06-07

Applicant: Waymo LLC

Inventor： Lo Po Tsui ,  Allen Minich ,  Megan Van Welie ,  Neil Barooah ,  Dragomir Anguelov

IPC: G06K9/00 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that validates labels associated with sensor measurements of a scene in an environment. One of the methods includes receiving data representing a sensor measurement of a scene in an environment generated by one or more sensors. The sensor measurement can be associated with one or more labels, and each label can identify a portion of the sensor measurement that has been classified as measuring an object in the environment. For each of the labels, a determination can be made as to whether the label satisfies each of the validation criteria. Each validation criterion can measure whether one or more characteristics of the label are consistent with one or more characteristics of real-world objects in the environment. In response to determining that a particular label of the one or more labels does not satisfy one or more of the validation criteria, a notification can be generated indicating that the particular label is not a valid label for any real-world object in the scene of the environment.