公开(公告)号：US12106528B2

公开(公告)日：2024-10-01

申请号：US17684334

申请日：2022-03-01

Applicant: Waymo LLC

Inventor： Nichola Abdo ,  Jonathon Shlens ,  Zhifeng Chen ,  Christopher John Sweeney ,  Philipp Florian Jund

IPC: G06T9/00 ,  G06F18/214

CPC classification number: G06T9/002 ,  G06F18/2148

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.

公开(公告)号：US20220319054A1

公开(公告)日：2022-10-06

申请号：US17684334

申请日：2022-03-01

Applicant: Waymo LLC

Inventor： Nichola Abdo ,  Jonathon Shlens ,  Zhifeng Chen ,  Christopher John Sweeney ,  Philipp Florian Jund

IPC: G06T9/00 ,  G06K9/62

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.