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    SURFEL MAP EDITING
    2.
    发明申请
    SURFEL MAP EDITING 有权

    公开(公告)号：US20220082408A1

    公开(公告)日：2022-03-17

    申请号：US17021811

    申请日：2020-09-15

    Applicant: Waymo LLC

    Inventor： Michael Montemerlo ,  Colin Andrew Braley

    IPC: G01C21/00 ,  G06K9/00

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing an initial representation of an environment to generate an updated representation that includes representations of one or more objects there were obscured in the initial representation. One of the methods includes obtaining initial surfel data comprising a plurality of surfels; determining a plurality of non-static surfels from the plurality of surfels; obtaining guidance data that characterizes a prediction for static surfaces in one or more first regions of the environment that were obscured by the plurality of non-static surfels in the initial surfel data; and processing the guidance data and the initial surfel data to generate final surfel data that comprises, for each first region of the environment, a plurality of predicted surfels that represent static surfaces in the first region that are partially or wholly obscured by objects represented by respective non-static surfels.

    ANNOTATED SURFEL MAPS
    3.
    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.

    PLANNING FOR OCCLUSIONS WITH SURFEL MAPS
    4.
    发明申请
    PLANNING FOR OCCLUSIONS WITH SURFEL MAPS 有权

    公开(公告)号：US20240383499A1

    公开(公告)日：2024-11-21

    申请号：US18780296

    申请日：2024-07-22

    Applicant: Waymo LLC

    Inventor： Michael Buchanan ,  Aleksandar Rumenov Gabrovski ,  Colin Andrew Braley ,  David Yonchar Margines

    IPC: B60W60/00 ,  B60W30/095 ,  B60W30/18 ,  G06V20/58 ,  G06V20/64

    Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.

    THREE-DIMENSIONAL POINT CLOUD LABELING USING DISTANCE FIELD DATA
    8.
    发明申请
    THREE-DIMENSIONAL POINT CLOUD LABELING USING DISTANCE FIELD DATA 有权

    公开(公告)号：US20220207760A1

    公开(公告)日：2022-06-30

    申请号：US17137243

    申请日：2020-12-29

    Applicant: Waymo LLC

    Inventor： Colin Andrew Braley

    IPC: G06T7/521 ,  G06T7/30 ,  G06K9/00 ,  G06K9/32

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for labeling point clouds using distance field data. One of the methods includes obtaining a point cloud characterizing a region of the environment, the point cloud comprising a plurality of points; obtaining distance field data specifying, for each of a plurality of locations in the region of the environment, a distance from the location to a nearest static object in the environment; determining, using the distance field data and for each of the plurality of points, a respective distance from the point to a nearest static object in the environment to the point; and identifying, based on the respective distances for the plurality of points in the point cloud, one or more of the points as candidate dynamic object points that are likely to be measurements of a dynamic object in the environment.

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