公开(公告)号：US20230162508A1

公开(公告)日：2023-05-25

申请号：US17531230

申请日：2021-11-19

Applicant: Waymo LLC

Inventor： Fei Xia ,  Bing Wu ,  David Lee ,  Zijian Guo

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G06K9/20

CPC classification number: G06K9/00791 ,  G06K9/46 ,  G06K9/628 ,  G06K9/2054 ,  G06K9/6256 ,  G06N20/00

Abstract: The described aspects and implementations enable vehicle light classification in autonomous vehicle (AV) applications. In one implementation, disclosed is a method and a system to perform the method that includes, obtaining, by a processing device, first image data characterizing a driving environment of an autonomous vehicle (AV). The processing device may identify, based on the image data, a vehicle within the driving environment. The processing device may process the image data using one or more trained machine-learning models (MLMs) to determine a state of one or more lights of the vehicle and cause an update to a driving path of the AV based on the determined state of the lights.

公开(公告)号：US20230351691A1

公开(公告)日：2023-11-02

申请号：US18120989

申请日：2023-03-13

Applicant: Waymo LLC

Inventor： Pei Sun ,  Mingxing Tan ,  Weiyue Wang ,  Fei Xia ,  Zhaoqi Leng ,  Dragomir Anguelov ,  Chenxi Liu

IPC: G06T17/20

CPC classification number: G06T17/20 ,  G06T2210/56

Abstract: Methods, systems, and apparatus for processing point clouds using neural networks to perform a machine learning task. In one aspect, a system comprises one or more computers configured to obtain a set of point clouds captured by one or more sensors. Each point cloud includes a respective plurality of three-dimensional points. The one or more computers assign the three-dimensional points to respective voxels in a voxel grid, where the grid of voxels includes non-empty voxels to which one or more points are assigned and empty voxels to which no points are assigned. For each non-empty voxel, the one or more computers generate initial features based on the points that are assigned to the non-empty voxel. The one or more computers generate multi-scale features of the voxel grid, and the one or more computers generate an output for a point cloud processing task using the multi-scale features of the voxel grid.

公开(公告)号：US20230351243A1

公开(公告)日：2023-11-02

申请号：US17730436

申请日：2022-04-27

Applicant: Waymo LLC

Inventor： Fei Xia ,  Zijian Guo

IPC: G06N20/00

CPC classification number: G06N20/00

Abstract: The described aspects and implementations enable efficient calibration of a sensing system of a vehicle. In one implementation, disclosed is a method and a system to perform the method of obtaining a plurality of target outputs generated by processing a training input using a respective teacher machine learning model (MLM) of a plurality of teacher MLMs. The training input includes a representation of one or more objects, and each of the plurality of target outputs includes a classification of the objects among a respective set of classes of a plurality of sets of classes. The method further includes using the training input and the plurality of target outputs to train a student MLM to classify the one or more objects among each of the plurality of sets of classes.