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

IPC: G06V20/58 ,  G06T7/55 ,  G06V10/44 ,  G06V10/82

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.

公开(公告)号：US20250078531A1

公开(公告)日：2025-03-06

申请号：US18242928

申请日：2023-09-06

Applicant: Waymo LLC

Inventor： Hang Yan ,  Zhengyu Zhang ,  Yan Wang ,  Jingxiao Zheng ,  Dmitry Kalenichenko ,  Vasiliy Igorevich Karasev ,  Alper Ayvaci ,  Xu Chen

IPC: G06V20/56 ,  B60W60/00 ,  G01S13/89 ,  G06V10/764 ,  G06V10/80

Abstract: A method includes obtaining, by a processing device, input data derived from a set of sensors of an autonomous vehicle (AV), generating, by the processing device using a set of lane detection classifier heads, at least one heatmap based on a fused bird's eye view (BEV) feature generated from the input data, obtaining, by the processing device, a set of polylines using the at least one heatmap, wherein each polyline of the set of polylines corresponds to a respective track of a first set of tracks for a first frame, and generating, by the processing device, a second set of tracks for a second frame after the first frame by using a statistical filter based on a set of extrapolated tracks for the second frame and a set of track measurements for the second frame, wherein each track measurement of the set of track measurements corresponds to a respective updated polyline obtained for the second frame.

公开(公告)号：US20230281824A1

公开(公告)日：2023-09-07

申请号：US18118705

申请日：2023-03-07

Applicant: Waymo LLC

Inventor： Jieru Mei ,  Hang Yan ,  Liang-Chieh Chen ,  Siyuan Qiao ,  Yukun Zhu ,  Alex Zihao Zhu ,  Xinchen Yan ,  Henrik Kretzschmar

IPC: G06T7/11 ,  G06V20/64 ,  G06V10/82 ,  G06V20/58 ,  G01S17/89

CPC classification number: G06T7/11 ,  G06V20/64 ,  G06V10/82 ,  G06V20/58 ,  G01S17/89 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/30252 ,  G06T2207/10016 ,  G06T2210/12

Abstract: Methods, systems, and apparatus for generating a panoptic segmentation label for a sensor data sample. In one aspect, a system comprises one or more computers configured to obtain a sensor data sample characterizing a scene in an environment. The one or more computers obtain a 3D bounding box annotation at each time point for a point cloud characterizing the scene at the time point. The one or more computers obtain, for each camera image and each time point, annotation data identifying object instances depicted in the camera image, and the one or more computers generate a panoptic segmentation label for the sensor data sample characterizing the scene in the environment.

公开(公告)号：US20230260266A1

公开(公告)日：2023-08-17

申请号：US18108749

申请日：2023-02-13

Applicant: Waymo LLC

Inventor： Vasiliy Igorevich Karasev ,  Jiakai Zhang ,  Alper Ayvaci ,  Hang Yan ,  James Philbin

IPC: G06V10/80 ,  G01S13/86 ,  G01S7/41 ,  G06V20/58 ,  G06V10/82 ,  G06V10/77

CPC classification number: G06V10/806 ,  G01S13/867 ,  G01S7/417 ,  G01S7/412 ,  G06V20/58 ,  G06V10/82 ,  G06V10/7715

Abstract: A method includes obtaining, by a processing device, input data derived from a set of sensors associated with an autonomous vehicle (AV), extracting, by the processing device from the input data, a plurality of sets of features, generating, by the processing device using the plurality of sets of features, a fused bird's-eye view (BEV) grid. The fused BEV grid is generated based on a first BEV grid having a first scale and a second BEV grid having a second scale different from the first scale. The method further includes providing, by the processing device, the fused BEV grid for object detection.