公开(公告)号：US12204969B2

公开(公告)日：2025-01-21

申请号：US17893376

申请日：2022-08-23

Applicant: WAYMO LLC

Inventor： Justin Thorsen ,  Changchang Wu ,  Alper Ayvaci ,  Tiffany Chen ,  Lo Po Tsui ,  Zhinan Xu ,  Chen Wu ,  Sean Rafferty

IPC: G06K19/067 ,  G09F3/00

Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data, for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.

公开(公告)号：US20210303956A1

公开(公告)日：2021-09-30

申请号：US16827835

申请日：2020-03-24

Applicant: WAYMO LLC

Inventor： Justin Thorsen ,  Changchang Wu ,  Alper Ayvaci ,  Tiffany Chen ,  Lo Po Tsui ,  Zhinan Xu ,  Chen Wu ,  Sean Rafferty

IPC: G06K19/067 ,  G09F3/00

Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a first vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for a vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. The object is a static object may be determined. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.

公开(公告)号：US20250103844A1

公开(公告)日：2025-03-27

申请号：US18973983

申请日：2024-12-09

Applicant: Waymo LLC

Inventor： Justin Thorsen ,  Changchang Wu ,  Alper Ayvaci ,  Tiffany Chen ,  Lo Po Tsui ,  Zhinan Xu ,  Chen Wu ,  Sean Rafferty

IPC: G06K19/067 ,  G09F3/00

Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.

公开(公告)号：US20230150518A1

公开(公告)日：2023-05-18

申请号：US17526514

申请日：2021-11-15

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Antonio Teran Espinoza ,  Volker Grabe ,  Changchang Wu

IPC: B60W50/00 ,  B60W60/00 ,  G06F17/17

CPC classification number: B60W50/0098 ,  B60W60/001 ,  G06F17/17 ,  B60W2050/0088 ,  B60W2420/42 ,  B60W2420/52

Abstract: The described aspects and implementations enable efficient calibration of a sensing system of an autonomous vehicle (AV). In one implementation, disclosed is a method and a system to perform the method, the system including the sensing system configured to collect sensing data and a data processing system, operatively coupled to the sensing system. The data processing system is configured to identify reference point(s) in an environment of the AV, determine multiple estimated locations of the reference point(s), and adjust parameters of the sensing system based on a loss function representative of differences of the estimated locations.

公开(公告)号：US20230046289A1

公开(公告)日：2023-02-16

申请号：US17893376

申请日：2022-08-23

Applicant: WAYMO LLC

Inventor： Justin Thorsen ,  Changchang Wu ,  Alper Ayvaci ,  Tiffany Chen ,  Lo Po Tsui ,  Zhinan Xu ,  Chen Wu ,  Sean Rafferty

IPC: G06K19/067 ,  G09F3/00

Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data, for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.

公开(公告)号：US11475263B2

公开(公告)日：2022-10-18

申请号：US16827835

申请日：2020-03-24

Applicant: WAYMO LLC

Inventor： Justin Thorsen ,  Changchang Wu ,  Alper Ayvaci ,  Tiffany Chen ,  Lo Po Tsui ,  Zhinan Xu ,  Chen Wu ,  Sean Rafferty

IPC: G06K19/067 ,  G09F3/00

Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.