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公开(公告)号：US12136273B2
公开(公告)日：2024-11-05
申请号：US17451558
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Maya Kabkab , Yiran Zhang
IPC: G06V20/58 , B60W60/00 , G06F18/2431
Abstract: The described aspects and implementations enable efficient identification of real and image signs in autonomous vehicle (AV) applications. In one implementation, disclosed is a method and a system to perform the method that includes obtaining, using a sensing system of the AV, a combined image that includes a camera image and a depth information for a region of an environment of the AV, classifying a first sign in the combined image as an image-true sign, performing a spatial validation of the first sign, which includes evaluation of a spatial relationship of the first sign and one or more objects in the region of the environment of the AV, and identifying, based on the performed spatial validation, the first sign as a real sign.
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公开(公告)号：US20230419678A1
公开(公告)日：2023-12-28
申请号：US17808244
申请日：2022-06-22
Applicant: Waymo LLC
Inventor： Maya Kabkab , Yu-Han Chen , Zhibo Yang , Xia Chen
IPC: G06V20/58 , G06V20/70 , G06V10/774 , G06V10/82
CPC classification number: G06V20/58 , G06V20/70 , G06V10/774 , G06V10/82
Abstract: A method includes obtaining an image representing road objects belonging to a particular class, and generating, based on the image, feature maps that represent visual features of the image. The method also includes determining, based on the feature maps and for each respective road object of the plurality of road objects, a corresponding location at which the respective road object has been detected within the image and a corresponding tag value associated with the respective road object. The method additionally includes determining groups of the road objects based on the tag value of each respective road object, and identifying, for each respective group, a corresponding road condition based on the corresponding locations of the road objects in the respective group and the particular class. The method further includes generating an output that represents the corresponding road condition of each respective group.
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公开(公告)号：US11836955B2
公开(公告)日：2023-12-05
申请号：US17150228
申请日：2021-01-15
Applicant: Waymo LLC
Inventor： Zhinan Xu , Maya Kabkab , Chen Wu , Woojong Koh
CPC classification number: G06V10/7784 , G05D1/0088 , G05D1/0246 , G06T7/60 , G06T7/90 , G06V20/20 , G06V20/582 , G06T2207/30252
Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.
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公开(公告)号：US20230075493A1
公开(公告)日：2023-03-09
申请号：US17466179
申请日：2021-09-03
Applicant: WAYMO LLC
Inventor： Maya Kabkab
Abstract: The technology provides a sign detection and classification methodology. A unified pipeline approach incorporates generic sign detection with a robust parallel classification strategy. Sensor information such as camera imagery and lidar depth, intensity and height (elevation) information are applied to a sign detector module. This enables the system to detect the presence of a sign in a vehicle's externa environment. A modular classification approach is applied to the detected sign. This includes selective application of one or more trained machine learning classifiers, as well as a text and symbol detector. Annotations help to tie the classification information together and to address any conflicts with different the outputs from different classifiers. Identification of where the sign is in the vehicle's surrounding environment can provide contextual details. Identified signage can be associated with other objects in the vehicle's driving environment, which can be used to aid the vehicle in autonomous driving.
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公开(公告)号：US20220156972A1
公开(公告)日：2022-05-19
申请号：US17526682
申请日：2021-11-15
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Maya Kabkab , Ruichi Yu , Yingwei Li , Hang Zhao , Yu Ouyang
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a distance estimate for a target object that is depicted in an image of a scene in an environment. The system obtains data specifying (i) a target portion of the image that depicts the target object detected in the image, and (ii) one or more reference portions of the image that each depict a respective reference object detected in the image. The system further obtains, for each of the one or more reference objects, a respective distance measurement for the reference object that is a measurement of a distance from the reference object to a specified location in the environment. The system processes the obtained data to generate a distance estimate for the target object that is an estimate of a distance from the target object to the specified location in the environment.
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Patent Agency Ranking
公开(公告)号：US20240071100A1
公开(公告)日：2024-02-29
申请号：US18503432
申请日：2023-11-07
Applicant: WAYMO LLC
Inventor： Maya Kabkab
IPC: G06V20/58 , B60W60/00 , G06F18/2431 , G06V20/62
CPC classification number: G06V20/582 , B60W60/001 , G06F18/2431 , G06V20/63 , B60W2420/42 , B60W2420/52 , B60W2555/60 , B60W2710/20 , B60W2720/106 , B60W2720/125
Abstract: The technology provides a sign detection and classification methodology. A unified pipeline approach incorporates generic sign detection with a robust parallel classification strategy. Sensor information such as camera imagery and lidar depth, intensity and height (elevation) information are applied to a sign detector module. This enables the system to detect the presence of a sign in a vehicle's external environment. A modular classification approach is applied to the detected sign. This includes selective application of one or more trained machine learning classifiers, as well as a text and symbol detector. Annotations help to tie the classification information together and to address any conflicts with different outputs from different classifiers. Identification of where the sign is in the vehicle's surrounding environment can provide contextual details. Identified signage can be associated with other objects in the vehicle's driving environment, which can be used to aid the vehicle in autonomous driving.
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公开(公告)号：US11861915B2
公开(公告)日：2024-01-02
申请号：US17466179
申请日：2021-09-03
Applicant: WAYMO LLC
Inventor： Maya Kabkab
IPC: G06F18/2431 , G06V20/58 , B60W60/00 , G06V20/62
CPC classification number: G06V20/582 , B60W60/001 , G06F18/2431 , G06V20/63 , B60W2420/42 , B60W2420/52 , B60W2555/60 , B60W2710/20 , B60W2720/106 , B60W2720/125
Abstract: The technology provides a sign detection and classification methodology. A unified pipeline approach incorporates generic sign detection with a robust parallel classification strategy. Sensor information such as camera imagery and lidar depth, intensity and height (elevation) information are applied to a sign detector module. This enables the system to detect the presence of a sign in a vehicle's externa environment. A modular classification approach is applied to the detected sign. This includes selective application of one or more trained machine learning classifiers, as well as a text and symbol detector. Annotations help to tie the classification information together and to address any conflicts with different the outputs from different classifiers. Identification of where the sign is in the vehicle's surrounding environment can provide contextual details. Identified signage can be associated with other objects in the vehicle's driving environment, which can be used to aid the vehicle in autonomous driving.
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公开(公告)号：US20210191419A1
公开(公告)日：2021-06-24
申请号：US17150228
申请日：2021-01-15
Applicant: Waymo LLC
Inventor： Zhinan Xu , Maya Kabkab , Chen Wu , Woojong Koh
Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.
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公开(公告)号：US20250029396A1
公开(公告)日：2025-01-23
申请号：US18905382
申请日：2024-10-03
Applicant: Waymo LLC
Inventor： Maya Kabkab , Yiran Zhang
IPC: G06V20/58 , B60W60/00 , G06F18/2431
Abstract: The described aspects and implementations enable efficient identification of real and image signs in autonomous vehicle (AV) applications. In one implementation, disclosed is a method and a system to perform the method that includes obtaining, using a sensing system of the AV, a combined image that includes a camera image and a depth information for a region of an environment of the AV, classifying a first sign in the combined image as an image-true sign, performing a spatial validation of the first sign, which includes evaluation of a spatial relationship of the first sign and one or more objects in the region of the environment of the AV, and identifying, based on the performed spatial validation, the first sign as a real sign.
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公开(公告)号：US20240054772A1
公开(公告)日：2024-02-15
申请号：US18492891
申请日：2023-10-24
Applicant: Waymo LLC
Inventor： Zhinan Xu , Maya Kabkab , Chen Wu , Woojong Koh
CPC classification number: G06V10/7784 , G05D1/0246 , G06T7/60 , G05D1/0088 , G06T7/90 , G06V20/20 , G06V20/582 , G06T2207/30252
Abstract: Aspects of the disclosure relate to determining a sign type of an unfamiliar sign. The system may include one or more processors. The one or more processors may be configured to receive an image and identify image data corresponding to a traffic sign in the image. The image data corresponding to the traffic sign may be input in a sign type model. The processors may determine that the sign type model was unable to identify a type of the traffic sign and determine one or more attributes of the traffic sign. The one or more attributes of the traffic sign may be compared to known attributes of other traffic signs and based on this comparison, a sign type of the traffic sign may be determined. The vehicle may be controlled in an autonomous driving mode based on the sign type of the traffic sign.
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