公开(公告)号：US20250110230A1

公开(公告)日：2025-04-03

申请号：US18479376

申请日：2023-10-02

Applicant: Waymo LLC

Inventor： Joshua Max Manela ,  Nicholas Lloyd Armstrong-Crews ,  Matthew Evan Thrasher

IPC: G01S13/58 ,  G01S7/41 ,  G01S13/89 ,  G01S13/931

Abstract: Example embodiments relate techniques and systems for generating multi-axis radar velocity images using stereo radar. A vehicle radar system receives radar first radar data from a first radar and second radar data from a second radar, which are coupled at different locations on a vehicle traveling in an environment. The system determines a first radial speed and a second radial speed for an object based on the first and second radar data, respectively, and then estimates a velocity vector for the object relative to the vehicle based on the first and second radial speeds. The system can provide the estimated velocity vector as an input into a neural network and enable vehicle systems to control the vehicle based on the output from the neural network.

公开(公告)号：US11977167B2

公开(公告)日：2024-05-07

申请号：US17105141

申请日：2020-11-25

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Nicholas Lloyd Armstrong-Crews ,  Volker Grabe

IPC: H04N23/68 ,  G01S7/481 ,  G01S17/89 ,  G01S17/931 ,  G01S7/51

CPC classification number: G01S17/931 ,  G01S7/4817 ,  G01S17/89 ,  H04N23/689 ,  G01S7/51

Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.

公开(公告)号：US20210208283A1

公开(公告)日：2021-07-08

申请号：US17105141

申请日：2020-11-25

Applicant: Waymo LLC

Inventor： Sheng Zhao ,  Nicholas Lloyd Armstrong-Crews ,  Volker Grabe

IPC: G01S17/931 ,  G01S17/89 ,  G01S7/481 ,  H04N5/232

Abstract: An improved, efficient method for mapping world points from an environment (e.g., points generated by a LIDAR sensor of an autonomous vehicle) to locations (e.g., pixels) within rolling-shutter images taken of the environment is provided. This improved method allows for accurate localization of the world point in a rolling-shutter image via an iterative process that converges in very few iterations. The method poses the localization process as an iterative process for determining the time, within the rolling-shutter exposure period of the image, at which the world point was imaged by the camera. The method reduces the number of times the world point is projected into the normalized space of the camera image, often converging in three or fewer iterations.