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公开(公告)号：US11669980B2
公开(公告)日：2023-06-06
申请号：US17384654
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Nichola Abdo , Christopher John Sweeney , Robert William Anderson
CPC classification number: G06T7/269 , G06T7/248 , G06T2207/10028 , G06T2207/20084 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating motion detection based on optical flow. One of the methods includes obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene at a second later time point. A point cloud characterizing the scene in the environment is obtained. A predicted optical flow is determined between the first image and the second image. A respective initial flow prediction for the point that represents motion of the point between the two time points is determined. A respective ego motion flow estimate for the point that represents a motion of the point induced by ego motion of the agent is determined. A respective motion prediction that indicates whether the point was static or in motion between the two time points is determined.
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公开(公告)号：US20220335624A1
公开(公告)日：2022-10-20
申请号：US17721288
申请日：2022-04-14
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Austin Charles Stone , Alper Ayvaci , Anelia Angelova , Rico Jonschkowski
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a neural network to predict optical flow. One of the methods includes obtaining a batch of one or more training image pairs; for each of the pairs: processing the first training image and the second training image using the neural network to generate a final optical flow estimate; generating a cropped final optical flow estimate from the final optical flow estimate; and training the neural network using the cropped optical flow estimate.
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Patent Agency Ranking
3.发明授权公开(公告)号：US12266190B2
公开(公告)日：2025-04-01
申请号：US17884356
申请日：2022-08-09
Applicant: Waymo LLC
Inventor： Albert Zhao , Vasiliy Igorevich Karasev , Hang Yan , Daniel Rudolf Maurer , Alper Ayvaci , Yu-Han Chen
IPC: G06V20/58 , G06T7/55 , G06V10/44 , G06V10/82 , G06T3/4046 , G06V10/40 , G06V10/70 , G06V20/69 , G06V30/18
Abstract: The described aspects and implementations enable efficient detection and classification of objects with machine learning models that deploy a bird's-eye view representation and are trained using depth ground truth data. In one implementation, disclosed are system and techniques that include obtaining images, generating, using a first neural network (NN), feature vectors (FVs) and depth distributions pixels of images, wherein the first NN is trained using training images and a depth ground truth data for the training images. The techniques further include obtaining a feature tensor (FT) in view of the FVs and the depth distributions, and processing the obtained FTs, using a second NN, to identify one or more objects depicted in the images.
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4.发明公开公开(公告)号：US20240096105A1
公开(公告)日：2024-03-21
申请号：US17884356
申请日：2022-08-09
Applicant: Waymo LLC
Inventor： Albert Zhao , Vasiliy Igorevich Karasev , Hang Yan , Daniel Rudolf Maurer , Alper Ayvaci , Yu-Han Chen
CPC classification number: G06V20/58 , G06T7/55 , G06V10/44 , G06V10/82 , G06T2207/20081 , G06T2207/20084 , G06T2207/30252
Abstract: The described aspects and implementations enable efficient detection and classification of objects with machine learning models that deploy a bird's-eye view representation and are trained using depth ground truth data. In one implementation, disclosed are system and techniques that include obtaining images, generating, using a first neural network (NN), feature vectors (FVs) and depth distributions pixels of images, wherein the first NN is trained using training images and a depth ground truth data for the training images. The techniques further include obtaining a feature tensor (FT) in view of the FVs and the depth distributions, and processing the obtained FTs, using a second NN, to identify one or more objects depicted in the images.
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公开(公告)号：US20230033989A1
公开(公告)日：2023-02-02
申请号：US17384654
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Nichola Abdo , Christopher John Sweeney , Robert William Anderson
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating motion detection based on optical flow. One of the methods includes obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene at a second later time point. A point cloud characterizing the scene in the environment is obtained. A predicted optical flow is determined between the first image and the second image. A respective initial flow prediction for the point that represents motion of the point between the two time points is determined. A respective ego motion flow estimate for the point that represents a motion of the point induced by ego motion of the agent is determined. A respective motion prediction that indicates whether the point was static or in motion between the two time points is determined.
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公开(公告)号：US12229972B2
公开(公告)日：2025-02-18
申请号：US17721288
申请日：2022-04-14
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Austin Charles Stone , Alper Ayvaci , Anelia Angelova , Rico Jonschkowski
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training a neural network to predict optical flow. One of the methods includes obtaining a batch of one or more training image pairs; for each of the pairs: processing the first training image and the second training image using the neural network to generate a final optical flow estimate; generating a cropped final optical flow estimate from the final optical flow estimate; and training the neural network using the cropped optical flow estimate.
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公开(公告)号：US20230035454A1
公开(公告)日：2023-02-02
申请号：US17384637
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Robert William Anderson , Rico Jonschkowski , Austin Charles Stone , Anelia Angelova , Nichola Abdo , Christopher John Sweeney
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating an optical flow label from a lidar point cloud. One of the methods includes obtaining data specifying a training example, including a first image of a scene in an environment captured at a first time point and a second image of the scene in the environment captured at a second time point. For each of a plurality of lidar points, a respective second corresponding pixel in the second image is obtained and a respective velocity estimate for the lidar point at the second time point is obtained. A respective first corresponding pixel in the first image is determined using the velocity estimate for the lidar point. A proxy optical flow ground truth for the training example is generated based on an estimate of optical flow of the pixel between the first and second images.
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