公开(公告)号：US20230281824A1

公开(公告)日：2023-09-07

申请号：US18118705

申请日：2023-03-07

Applicant: Waymo LLC

Inventor： Jieru Mei ,  Hang Yan ,  Liang-Chieh Chen ,  Siyuan Qiao ,  Yukun Zhu ,  Alex Zihao Zhu ,  Xinchen Yan ,  Henrik Kretzschmar

IPC: G06T7/11 ,  G06V20/64 ,  G06V10/82 ,  G06V20/58 ,  G01S17/89

CPC classification number: G06T7/11 ,  G06V20/64 ,  G06V10/82 ,  G06V20/58 ,  G01S17/89 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/30252 ,  G06T2207/10016 ,  G06T2210/12

Abstract: Methods, systems, and apparatus for generating a panoptic segmentation label for a sensor data sample. In one aspect, a system comprises one or more computers configured to obtain a sensor data sample characterizing a scene in an environment. The one or more computers obtain a 3D bounding box annotation at each time point for a point cloud characterizing the scene at the time point. The one or more computers obtain, for each camera image and each time point, annotation data identifying object instances depicted in the camera image, and the one or more computers generate a panoptic segmentation label for the sensor data sample characterizing the scene in the environment.