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    Time-line based object tracking annotation
    1.
    发明授权
    Time-line based object tracking annotation 有权

    公开(公告)号：US12211269B2

    公开(公告)日：2025-01-28

    申请号：US17314925

    申请日：2021-05-07

    Applicant: Waymo LLC

    Inventor： Yulai Shen ,  Henrik Kretzschmar ,  Jeffrey Sham ,  Jeffrey Carlson ,  Lo Po Tsui ,  Dragomir Anguelov

    IPC: G06V20/20 ,  G06N20/00 ,  G06V10/20 ,  G06V20/40

    Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating and editing object track labels for objects detected in video data. One of the methods includes obtaining a video segment comprising multiple image frames associated with multiple time points; obtaining object track data specifying a set of object tracks; providing, for presentation to a user, a user interface for modifying the object track data, the user interface displaying object timeline representations of the object tracks; receiving one or more user inputs that indicate one or more modifications to the object timeline representations; updating the object timeline representations displayed in the timeline display area; and updating the object track data according to the updated object timeline representations.

    Agent trajectory prediction using target locations
    5.
    发明授权
    Agent trajectory prediction using target locations 有权

    公开(公告)号：US11987265B1

    公开(公告)日：2024-05-21

    申请号：US17387852

    申请日：2021-07-28

    Applicant: Waymo LLC

    Inventor： Hang Zhao ,  Jiyang Gao ,  Chen Sun ,  Yi Shen ,  Yuning Chai ,  Cordelia Luise Schmid ,  Congcong Li ,  Benjamin Sapp ,  Dragomir Anguelov ,  Tian Lan ,  Yue Shen

    IPC: B60W60/00 ,  G06N3/02

    CPC classification number: B60W60/001 ,  G06N3/02 ,  B60W2420/42 ,  B60W2554/4049

    Abstract: A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle up to a current time point. The system identifies a plurality of initial target locations, and generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent, one or more of the predicted future trajectories.

    Conditional agent trajectory prediction
    6.
    发明授权
    Conditional agent trajectory prediction 有权

    公开(公告)号：US11926347B2

    公开(公告)日：2024-03-12

    申请号：US17514259

    申请日：2021-10-29

    Applicant: Waymo LLC

    Inventor： Reza Mahjourian ,  Carlton Macdonald Downey ,  Benjamin Sapp ,  Dragomir Anguelov ,  Ekaterina Igorevna Tolstaya

    IPC: B60W60/00 ,  G06N3/045

    CPC classification number: B60W60/00272 ,  B60W60/00274 ,  G06N3/045

    Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing a conditional behavior prediction for one or more agents. The system obtains context data characterizing an environment. The context data includes data characterizing a plurality of agents, including a query agent and one or more target agents, in the environment at a current time point. The system further obtains data identifying a planned future trajectory for the query agent after the current time point, and for each target agent in the set, processes the context data and the data identifying the planned future trajectory using a first neural network to generate a conditional trajectory prediction output that defines a conditional probability distribution over possible future trajectories of the target agent after the current time point given that the query agent follows the planned future trajectory for the query agent after the current time point.

    Behavior prediction of surrounding agents
    7.
    发明授权
    Behavior prediction of surrounding agents 有权

    公开(公告)号：US11727690B2

    公开(公告)日：2023-08-15

    申请号：US16839693

    申请日：2020-04-03

    Applicant: Waymo LLC

    Inventor： Mayank Bansal ,  Dragomir Anguelov

    IPC: B60W60/00 ,  G06V20/58 ,  G06V20/10 ,  G06N3/045 ,  G06N3/047 ,  G06V10/764 ,  G06V10/82

    CPC classification number: G06V20/58 ,  B60W60/00259 ,  B60W60/00274 ,  G06N3/045 ,  G06N3/047 ,  G06V10/764 ,  G06V10/82 ,  G06V20/10

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting occupancies of agents. One of the methods includes obtaining scene data characterizing a current scene in an environment; and processing a neural network input comprising the scene data using a neural network to generate a neural network output, wherein: the neural network output comprises respective occupancy outputs corresponding to a plurality of agent types at one or more future time points; the occupancy output for each agent type at a first future time point comprises respective occupancy probabilities for a plurality of locations in the environment; and in the occupancy output for each agent type at the first future time point, the respective occupancy probability for each location characterizes a likelihood that an agent of the agent type will occupy the location at the first future time point.

    PREDICTING THE FUTURE MOVEMENT OF AGENTS IN AN ENVIRONMENT USING OCCUPANCY FLOW FIELDS
    9.
    发明申请
    PREDICTING THE FUTURE MOVEMENT OF AGENTS IN AN ENVIRONMENT USING OCCUPANCY FLOW FIELDS 有权

    公开(公告)号：US20220301182A1

    公开(公告)日：2022-09-22

    申请号：US17698930

    申请日：2022-03-18

    Applicant: Waymo LLC

    Inventor： Reza Mahjourian ,  Jinkyu Kim ,  Yuning Chai ,  Mingxing Tan ,  Benjamin Sapp ,  Dragomir Anguelov

    IPC: G06T7/20 ,  G06V10/40 ,  G06V20/56 ,  G06V20/58

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting the future movement of agents in an environment. In particular, the future movement is predicted through occupancy flow fields that specify, for each future time point in a sequence of future time points and for each agent type in a set of one or more agent types: an occupancy prediction for the future time step that specifies, for each grid cell, an occupancy likelihood that any agent of the agent type will occupy the grid cell at the future time point, and a motion flow prediction that specifies, for each grid cell, a motion vector that represents predicted motion of agents of the agent type within the grid cell at the future time point.

    TRAINING POINT CLOUD PROCESSING NEURAL NETWORKS USING PSEUDO-ELEMENT - BASED DATA AUGMENTATION
    10.
    发明申请
    TRAINING POINT CLOUD PROCESSING NEURAL NETWORKS USING PSEUDO-ELEMENT - BASED DATA AUGMENTATION 有权

    公开(公告)号：US20220156585A1

    公开(公告)日：2022-05-19

    申请号：US17526731

    申请日：2021-11-15

    Applicant: Waymo LLC

    Inventor： Zhaoqi Leng ,  Shuyang Cheng ,  Weiyue Wang ,  Xiao Zhang ,  Dragomir Anguelov

    IPC: G06N3/08 ,  G06K9/62

    Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing training of a neural network that is configured to process a network input comprising a point cloud to generate a network output for a point cloud processing task. The system obtains a set of labeled training examples and a set of unlabeled point clouds, generates a respective pseudo-label for each unlabeled point cloud, generates a plurality of pseudo-elements based on the respective pseudo-label for the unlabeled point cloud, generates augmented training data by augmenting the labeled training examples using the pseudo-elements generated for the unlabeled point clouds, and performing training of the neural network on the augmented training data.

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