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1.发明申请公开(公告)号：US20220366175A1
公开(公告)日：2022-11-17
申请号：US17319194
申请日：2021-05-13
Applicant: WAYMO LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06K9/00 , G06K9/62 , G05D1/00 , G05D1/02 , G01S17/931 , G01S13/931
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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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：US12299916B2
公开(公告)日：2025-05-13
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：US11562573B2
公开(公告)日：2023-01-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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公开(公告)号：US10699141B2
公开(公告)日：2020-06-30
申请号：US16018490
申请日：2018-06-26
Applicant: Waymo LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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Patent Agency Ranking
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
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.
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7.发明授权公开(公告)号：US12136271B2
公开(公告)日：2024-11-05
申请号：US17319194
申请日：2021-05-13
Applicant: WAYMO LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06V20/58 , G01S13/931 , G01S17/931 , G05D1/00 , G06F18/22
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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公开(公告)号：US20230213643A1
公开(公告)日：2023-07-06
申请号：US18076723
申请日：2022-12-07
Applicant: Waymo LLC
Inventor： Jyh-Jing Hwang , Henrik Kretzschmar , Dragomir Anguelov
CPC classification number: G01S13/867 , G01S13/89 , G01S7/417 , G06T7/50 , G06V10/82 , G06T7/194 , G06V10/80 , G06T2207/10028 , G06T2207/20084 , G06T2207/20221 , G06T2207/30252 , G06V20/56
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing sensor data. In one aspect, a method includes obtaining image data representing a camera sensor measurement of a scene; obtaining radar data representing a radar sensor measurement of the scene; generating a feature representation of the image data; generating a respective initial depth estimate for each of a subset of the plurality of pixels; generating a feature representation of the radar data; for each of the subset of the plurality of pixels, generating a respective adjusted depth estimate for the pixel using the initial depth estimate for the pixel and the radar feature vectors for a corresponding subset of the plurality of radar reflection points; generating a fused point cloud that includes a plurality of three-dimensional data points; and processing the fused point cloud to generate an output that characterizes the scene.
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公开(公告)号：US20210390407A1
公开(公告)日：2021-12-16
申请号：US17344254
申请日：2021-06-10
Applicant: Waymo LLC
Inventor： Vincent Michael Casser , Yuning Chai , Dragomir Anguelov , Hang Zhao , Henrik Kretzschmar , Reza Mahjourian , Anelia Angelova , Ariel Gordon , Soeren Pirk
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for training a perspective computer vision model. The model is configured to receive input data characterizing an input scene in an environment from an input viewpoint and to process the input data in accordance with a set of model parameters to generate an output perspective representation of the scene from the input viewpoint. The system trains the model based on first data characterizing a scene in the environment from a first viewpoint and second data characterizing the scene in the environment from a second, different viewpoint.
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公开(公告)号：US20210192238A1
公开(公告)日：2021-06-24
申请号：US17123185
申请日：2020-12-16
Applicant: WAYMO LLC
Inventor： Victoria Dean , Abhijit S. Ogale , Henrik Kretzschmar , David Harrison Silver , Carl Kershaw , Pankaj Chaudhari , Chen Wu , Congcong Li
Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.
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