公开(公告)号：US10891518B1

公开(公告)日：2021-01-12

申请号：US16220100

申请日：2018-12-14

Applicant: Waymo LLC

Inventor： Aditya Joshi ,  Ingrid Fiedler ,  Lo Po Tsui

IPC: G06K9/62 ,  G01S17/89 ,  G06K9/00 ,  G06N20/20 ,  G01S17/58 ,  G01S17/04

Abstract: Aspects of the disclosure relate to training a labeling model to automatically generate labels for objects detected in a vehicle's environment. In this regard, one or more computing devices may receive sensor data corresponding to a series of frames perceived by the vehicle, each frame being captured at a different time point during a trip of the vehicle. The computing devices may also receive bounding boxes generated by a first labeling model for objects detected in the series of frames. The computing devices may receive user inputs including an adjustment to at least one of the bounding boxes, the adjustment corrects a displacement of the at least one of the bounding boxes caused by a sensing inaccuracy. The computing devices may train a second labeling model using the sensor data, the bounding boxes, and the adjustment to increase accuracy of the second labeling model when automatically generating bounding boxes.

公开(公告)号：US12205379B2

公开(公告)日：2025-01-21

申请号：US17879857

申请日：2022-08-03

Applicant: Waymo LLC

Inventor： Ingrid Fiedler ,  David Margines

IPC: G06V20/58 ,  B60Q5/00 ,  G06V20/56

Abstract: Example embodiments relate to pedestrian countdown signal classification to increase pedestrian behavior legibility. An example embodiment includes a method that includes obtaining, by a computing system of a vehicle, a camera image patch. The method further includes determining, by the computing system, using the camera image patch and a pedestrian countdown signal classifier model, a state of a pedestrian countdown signal. The method also includes determining, by the computing system based on the state of the pedestrian countdown signal, a prediction of whether a pedestrian will enter a crosswalk governed by the pedestrian countdown signal. And the method includes, based on the prediction, causing, by the computing system, the vehicle to perform an invitation action that invites a pedestrian to enter the crosswalk.

公开(公告)号：US20250111681A1

公开(公告)日：2025-04-03

申请号：US18978766

申请日：2024-12-12

Applicant: Waymo LLC

Inventor： Ingrid Fiedler ,  David Margines

IPC: G06V20/58 ,  B60Q5/00 ,  G06V20/56

Abstract: Example embodiments relate to pedestrian countdown signal classification to increase pedestrian behavior legibility. An example embodiment includes a method that includes obtaining, by a computing system of a vehicle, a camera image patch. The method further includes determining, by the computing system, using the camera image patch and a pedestrian countdown signal classifier model, a state of a pedestrian countdown signal. The method also includes determining, by the computing system based on the state of the pedestrian countdown signal, a prediction of whether a pedestrian will enter a crosswalk governed by the pedestrian countdown signal. And the method includes, based on the prediction, causing, by the computing system, the vehicle to perform an invitation action that invites a pedestrian to enter the crosswalk.

公开(公告)号：US20230041448A1

公开(公告)日：2023-02-09

申请号：US17879857

申请日：2022-08-03

Applicant: Waymo LLC

Inventor： Ingrid Fiedler ,  David Margines

IPC: G06V20/58 ,  G06V20/56 ,  B60Q5/00

Abstract: Example embodiments relate to pedestrian countdown signal classification to increase pedestrian behavior legibility. An example embodiment includes a method that includes obtaining, by a computing system of a vehicle, a camera image patch. The method further includes determining, by the computing system, using the camera image patch and a pedestrian countdown signal classifier model, a state of a pedestrian countdown signal. The method also includes determining, by the computing system based on the state of the pedestrian countdown signal, a prediction of whether a pedestrian will enter a crosswalk governed by the pedestrian countdown signal. And the method includes, based on the prediction, causing, by the computing system, the vehicle to perform an invitation action that invites a pedestrian to enter the crosswalk.

公开(公告)号：US11556744B1

公开(公告)日：2023-01-17

申请号：US17116255

申请日：2020-12-09

Applicant: Waymo LLC

Inventor： Aditya Joshi ,  Ingrid Fiedler ,  Lo Po Tsui

IPC: G06K9/62 ,  G01S17/89 ,  G06N20/20 ,  G01S17/58 ,  G01S17/04 ,  G06V20/20 ,  G06V20/58

Abstract: Aspects of the disclosure relate to training a labeling model to automatically generate labels for objects detected in a vehicle's environment. In this regard, one or more computing devices may receive sensor data corresponding to a series of frames perceived by the vehicle, each frame being captured at a different time point during a trip of the vehicle. The computing devices may also receive bounding boxes generated by a first labeling model for objects detected in the series of frames. The computing devices may receive user inputs including an adjustment to at least one of the bounding boxes, the adjustment corrects a displacement of the at least one of the bounding boxes caused by a sensing inaccuracy. The computing devices may train a second labeling model using the sensor data, the bounding boxes, and the adjustment to increase accuracy of the second labeling model when automatically generating bounding boxes.