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公开(公告)号：US12126881B2
公开(公告)日：2024-10-22
申请号：US18323685
申请日：2023-05-25
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/60 , H04N23/62 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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公开(公告)号：US20240135551A1
公开(公告)日：2024-04-25
申请号：US18536142
申请日：2023-12-11
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He
CPC classification number: G06T7/223 , G06T1/60 , G06T7/33 , G06T7/55 , G06V10/443 , G06T2207/20021 , G06T2207/20221 , G06T2207/30252
Abstract: Described examples relate to an apparatus comprising a memory for storing a sequence of image frames and at least one processor. The at least one processor may be configured to receive a first image frame of a sequence of image frames from an image capture device and select a first portion of a first image frame. The at least one processor may also be configured to obtain alignment information and determine a first portion and a second portion of a second image frame based on the alignment information. Further, the at least one processor may be configured to determine a bounding region within the second image frame and fetch image data corresponding to the bounding region of the second image frame from memory. In some examples, the first image frame may comprise a base image and the second image frame may comprise an alternative image frame. Further, the first image frame may comprise any one of the image frames of the sequence of image frames.
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公开(公告)号：US11880902B2
公开(公告)日：2024-01-23
申请号：US17138229
申请日：2020-12-30
Applicant: Waymo LLC
Inventor： Ignacio Garcia-Dorado , Damien Kelly , Xiaoying He , Jia Feng , Bartlomiej Wronski , Peyman Milanfar , Lucian Ion
CPC classification number: G06T3/4053 , B60R11/04 , G06F17/16 , G06F17/18
Abstract: Described examples relate to an apparatus comprising one or more image sensors coupled to a vehicle and at least one processor. The at least one processor may be configured to capture, in a burst sequence using the one or more image sensors, multiple frames of an image of a scene, the multiple frames having respective, relative offsets of the image across the multiple frames and perform super-resolution computations using the captured, multiple frames of the image of the scene. The at least one processor may also be configured to accumulate, based on the super-resolution computations, color planes and combine, using the one or more processors, the accumulated color planes to create a super-resolution image of the scene.
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公开(公告)号：US20230370703A1
公开(公告)日：2023-11-16
申请号：US18323685
申请日：2023-05-25
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/60 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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公开(公告)号：US20230097592A1
公开(公告)日：2023-03-30
申请号：US17490991
申请日：2021-09-30
Applicant: Waymo LLC
Inventor： Jia Feng , Lucian Ion
Abstract: Described examples relate to an apparatus comprising a memory for storing image frames and at least one processor. The at least one processor may be configured to receive a plurality of image frames from an image capture device and downsize each of the plurality image frames to generate a plurality of versions of each image frame at a plurality of different sizes. The at least one processor may also be configured to determine alignment information for a first version of a first image frame. The alignment information may include a first alignment vector for identifying image data in a first version of a second image frame that corresponds to image data in the first version of the first image frame. Further, the at least one processor may be configured to determine a first initial alignment vector for identifying image data in a first version of a third image frame based on at least the first alignment vector.
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Patent Agency Ranking
公开(公告)号：US20240119560A1
公开(公告)日：2024-04-11
申请号：US18531036
申请日：2023-12-06
Applicant: Waymo LLC
Inventor： Ignacio Garcia Dorado , Damien Kelly , Xiaoying He , Jia Feng , Bartlomiej Wronski , Peyman Milanfar , Lucian Ion
CPC classification number: G06T3/4053 , B60R11/04 , G06F17/16 , G06F17/18
Abstract: Described examples relate to an apparatus comprising one or more image sensors coupled to a vehicle and at least one processor. The at least one processor may be configured to capture, in a burst sequence using the one or more image sensors, multiple frames of an image of a scene, the multiple frames having respective, relative offsets of the image across the multiple frames and perform super-resolution computations using the captured, multiple frames of the image of the scene. The at least one processor may also be configured to accumulate, based on the super-resolution computations, color planes and combine, using the one or more processors, the accumulated color planes to create a super-resolution image of the scene.
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公开(公告)号：US11706507B2
公开(公告)日：2023-07-18
申请号：US17550255
申请日：2021-12-14
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He , Benjamin Frevert , Nirav Dharia
IPC: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/60 , H04N23/695
CPC classification number: H04N23/45 , H04N5/265 , H04N23/62 , H04N23/64 , H04N23/695
Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.
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公开(公告)号：US20230118504A1
公开(公告)日：2023-04-20
申请号：US18066004
申请日：2022-12-14
Applicant: Waymo LLC
Inventor： Nirav Dharia , Jia Feng
IPC: H04N25/713
Abstract: A method includes obtaining, from an image sensor, one or more images that represent an object, and determining a speed of the object based on the one or more images. The method also includes determining that the speed of the object exceeds a threshold speed and, based on determining that the speed of the object exceeds the threshold speed, determining a region of interest (ROI) of the image sensor expected to represent the object. The method further includes causing the image sensor to generate one or more ROI images using the ROI.
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公开(公告)号：US12136226B2
公开(公告)日：2024-11-05
申请号：US18536142
申请日：2023-12-11
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He
Abstract: Described examples relate to an apparatus comprising a memory for storing a sequence of image frames and at least one processor. The at least one processor may be configured to receive a first image frame of a sequence of image frames from an image capture device and select a first portion of a first image frame. The at least one processor may also be configured to obtain alignment information and determine a first portion and a second portion of a second image frame based on the alignment information. Further, the at least one processor may be configured to determine a bounding region within the second image frame and fetch image data corresponding to the bounding region of the second image frame from memory. In some examples, the first image frame may comprise a base image and the second image frame may comprise an alternative image frame. Further, the first image frame may comprise any one of the image frames of the sequence of image frames.
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公开(公告)号：US11875516B2
公开(公告)日：2024-01-16
申请号：US17135337
申请日：2020-12-28
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He
CPC classification number: G06T7/223 , G06T1/60 , G06T7/33 , G06T7/55 , G06V10/443 , G06T2207/20021 , G06T2207/20221 , G06T2207/30252
Abstract: Described examples relate to an apparatus comprising a memory for storing a sequence of image frames and at least one processor. The at least one processor may be configured to receive a first image frame of a sequence of image frames from an image capture device and select a first portion of a first image frame. The at least one processor may also be configured to obtain alignment information and determine a first portion and a second portion of a second image frame based on the alignment information. Further, the at least one processor may be configured to determine a bounding region within the second image frame and fetch image data corresponding to the bounding region of the second image frame from memory. In some examples, the first image frame may comprise a base image and the second image frame may comprise an alternative image frame. Further, the first image frame may comprise any one of the image frames of the sequence of image frames.
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