公开(公告)号：US20220156965A1

公开(公告)日：2022-05-19

申请号：US17505900

申请日：2021-10-20

Applicant: Waymo LLC

Inventor： Jingxiao Zheng ,  Xinwei Shi ,  Alexander Gorban ,  Junhua Mao ,  Andre Liang Cornman ,  Yang Song ,  Ting Liu ,  Ruizhongtai Qi ,  Yin Zhou ,  Congcong Li ,  Dragomir Anguelov

IPC: G06T7/73 ,  G06K9/62 ,  G06K9/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.

公开(公告)号：US20250037303A1

公开(公告)日：2025-01-30

申请号：US18614254

申请日：2024-03-22

Applicant: Waymo LLC

Inventor： Jingxiao Zheng ,  Xinwei Shi ,  Alexander Gorban ,  Junhua Mao ,  Andre Liang Cornman ,  Yang Song ,  Ting Liu ,  Ruizhongtai Qi ,  Yin Zhou ,  Congcong Li ,  Dragomir Anguelov

IPC: G06T7/73 ,  G06F18/214 ,  G06F18/25 ,  G06V20/58

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.

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：US11967103B2

公开(公告)日：2024-04-23

申请号：US17505900

申请日：2021-10-20

Applicant: Waymo LLC

Inventor： Jingxiao Zheng ,  Xinwei Shi ,  Alexander Gorban ,  Junhua Mao ,  Andre Liang Cornman ,  Yang Song ,  Ting Liu ,  Ruizhongtai Qi ,  Yin Zhou ,  Congcong Li ,  Dragomir Anguelov

IPC: G06T7/73 ,  G06F18/214 ,  G06F18/25 ,  G06V20/58

CPC classification number: G06T7/73 ,  G06F18/214 ,  G06F18/251 ,  G06V20/58 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30196 ,  G06T2207/30261

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.