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公开(公告)号：US11373419B2
公开(公告)日：2022-06-28
申请号：US16941162
申请日：2020-07-28
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
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Patent Agency Ranking
公开(公告)号：US20210049374A1
公开(公告)日：2021-02-18
申请号：US16941162
申请日：2020-07-28
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
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公开(公告)号：US10762360B2
公开(公告)日：2020-09-01
申请号：US16194632
申请日：2018-11-19
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
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公开(公告)号：US20200160068A1
公开(公告)日：2020-05-21
申请号：US16194632
申请日：2018-11-19
Applicant: Waymo LLC
Inventor： David Harrison Silver , Ivan Bogun , Romain Thibaux
Abstract: Aspects of the disclosure relate to detecting unmapped drivable road surfaces. In one instance, sensor data captured by a sensor of an autonomous vehicle may be projected onto a grid having a plurality of cells. The plurality of cells may be classified by generating a label for each of the plurality of cells. Each label may identifies whether or not a corresponding cell contains a drivable surface. Ones of the plurality of cells may be clustered based on the labels to form a cluster of cells. An area of the cluster of cells may be compared to a map. Whether the area of the cluster of cells is an unmapped drivable road surface may be determined based on the comparison.
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公开(公告)号：US12154347B2
公开(公告)日：2024-11-26
申请号：US17691103
申请日：2022-03-09
Applicant: Waymo LLC
Inventor： Ivan Bogun , Sung Min Park
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting regions of an environment. One of the methods includes receiving a representation of a scene in an environment; processing the representation using a center prediction neural network to generate: (i) features of the scene in the environment, and (ii) a respective center score corresponding to each of a plurality of locations in the environment; selecting, based on the respective center scores, one or more of the plurality of locations; and for each selected location: processing an input comprising the features of the scene in the environment and data specifying the selected location using a geometry prediction neural network to generate a geometry prediction that represents a geometry of the region that is centered at the selected location.
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公开(公告)号：US20220292840A1
公开(公告)日：2022-09-15
申请号：US17691103
申请日：2022-03-09
Applicant: Waymo LLC
Inventor： Ivan Bogun , Sung Min Park
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting regions of an environment. One of the methods includes receiving a representation of a scene in an environment; processing the representation using a center prediction neural network to generate: (i) features of the scene in the environment, and (ii) a respective center score corresponding to each of a plurality of locations in the environment; selecting, based on the respective center scores, one or more of the plurality of locations; and for each selected location: processing an input comprising the features of the scene in the environment and data specifying the selected location using a geometry prediction neural network to generate a geometry prediction that represents a geometry of the region that is centered at the selected location.
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