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公开(公告)号：US20230019893A1
公开(公告)日：2023-01-19
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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公开(公告)号：US12032097B2
公开(公告)日：2024-07-09
申请号：US18171883
申请日：2023-02-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/48 , G01S7/481 , G01S7/4865 , G01S17/931
CPC classification number: G01S7/4865 , G01S7/4804 , G01S7/4816 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.
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公开(公告)号：US20220276384A1
公开(公告)日：2022-09-01
申请号：US17739064
申请日：2022-05-06
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alexander McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S17/89 , G06T7/521 , G01S7/497 , G01S7/481 , G01S7/48 , G01S7/4865 , G01S17/08 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.
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公开(公告)号：US20230194681A1
公开(公告)日：2023-06-22
申请号：US18171883
申请日：2023-02-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/4865 , G01S7/48 , G01S7/481 , G01S17/931
CPC classification number: G01S7/4865 , G01S7/4804 , G01S7/4816 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.
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公开(公告)号：US11481579B2
公开(公告)日：2022-10-25
申请号：US16833018
申请日：2020-03-27
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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Patent Agency Ranking
公开(公告)号：US11609313B2
公开(公告)日：2023-03-21
申请号：US16229193
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/48 , G01S17/89 , G06T1/00 , G01S7/4865 , G01S7/481 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.
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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
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.
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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
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.
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公开(公告)号：US12159451B2
公开(公告)日：2024-12-03
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
IPC: G06V20/56 , B60W60/00 , G01C21/36 , G06F18/214 , G06V10/774 , G06V20/58 , H04W4/021
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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公开(公告)号：US11353588B2
公开(公告)日：2022-06-07
申请号：US16177626
申请日：2018-11-01
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex Mccauley , Brandyn White , Ury Zhilinsky
IPC: G01S17/89 , G06T7/521 , G01S7/497 , G01S7/481 , G01S7/48 , G01S7/4865 , G01S17/08 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.
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