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公开(公告)号：US20230051565A1
公开(公告)日：2023-02-16
申请号：US17398436
申请日：2021-08-10
Applicant: Waymo LLC
Inventor： Dillon Cower , Timothy Yang , Kunlong Gu , Marshall Friend Tappen
Abstract: A method for determining hard example sensor data inputs for training a task neural network is described. The task neural network is configured to receive a sensor data input and to generate a respective output for the sensor data input to perform a machine learning task. The method includes: receiving one or more sensor data inputs depicting a same scene of an environment, wherein the one or more sensor data inputs are taken during a predetermined time period; generating a plurality of predictions about a characteristic of an object of the scene; determining a level of inconsistency between the plurality of predictions; determining that the level of inconsistency exceeds a threshold level; and in response to the determining that the level of inconsistency exceeds a threshold level, determining that the one or more sensor data inputs comprise a hard example sensor data input.
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公开(公告)号：US11593996B2
公开(公告)日：2023-02-28
申请号：US17171221
申请日：2021-02-09
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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Patent Agency Ranking
公开(公告)号：US20220254108A1
公开(公告)日：2022-08-11
申请号：US17171221
申请日：2021-02-09
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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公开(公告)号：US20250046030A1
公开(公告)日：2025-02-06
申请号：US18921325
申请日：2024-10-21
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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公开(公告)号：US20220180549A1
公开(公告)日：2022-06-09
申请号：US17545987
申请日：2021-12-08
Applicant: Waymo LLC
Inventor： Longlong Jing , Ruichi Yu , Jiyang Gao , Henrik Kretzschmar , Kang Li , Ruizhongtai Qi , Hang Zhao , Alper Ayvaci , Xu Chen , Dillon Cower , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting three-dimensional object locations from images. One of the methods includes obtaining a sequence of images that comprises, at each of a plurality of time steps, a respective image that was captured by a camera at the time step; generating, for each image in the sequence, respective pseudo-lidar features of a respective pseudo-lidar representation of a region in the image that has been determined to depict a first object; generating, for a particular image at a particular time step in the sequence, image patch features of the region in the particular image that has been determined to depict the first object; and generating, from the respective pseudo-lidar features and the image patch features, a prediction that characterizes a location of the first object in a three-dimensional coordinate system at the particular time step in the sequence.
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公开(公告)号：US12190463B2
公开(公告)日：2025-01-07
申请号：US18158740
申请日：2023-01-24
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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7.发明公开公开(公告)号：US20230230330A1
公开(公告)日：2023-07-20
申请号：US18158740
申请日：2023-01-24
Applicant: Waymo LLC
Inventor： Dillon Cower , Nirmal Patel
CPC classification number: G06T19/006 , G06T19/20 , G06T7/20 , G06T15/20 , G06T2207/30241 , G06T2219/2016 , G06T2207/30252 , G06T2207/10028
Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.
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