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公开(公告)号：US20230143433A1
公开(公告)日：2023-05-11
申请号：US17173818
申请日：2021-02-11
Applicant: Waymo LLC
IPC: G01S13/931 , G01S13/86 , G01S7/41 , B60W30/08 , G06T7/70
CPC classification number: G01S13/931 , G01S13/867 , G01S7/417 , B60W30/08 , G06T7/70 , B60W2420/52 , B60W2754/10 , B60W2554/00 , B60W2420/42 , G06T2207/10028 , G06T2207/30252 , G06T2207/10024 , G06T2207/20084
Abstract: Example embodiments relate to techniques for three dimensional (3D) object detection and localization. A computing system may cause a radar unit to transmit radar signals and receive radar reflections relative to an environment of a vehicle. Based on the radar reflections, the computing system may determine a heading and a range for a nearby object. The computing system may also receive an image depicting a portion of the environment that includes the object from a vehicle camera and remove peripheral areas of the image to generate an image patch that focuses upon the object based on the heading and the range for the object. The image patch and the heading and the range for the object can be provided as inputs into a neural network that provides output parameters corresponding to the object, which can be used to control the vehicle.
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公开(公告)号：US20210294346A1
公开(公告)日：2021-09-23
申请号：US17343187
申请日：2021-06-09
Applicant: Waymo LLC
Inventor： Junhua Mao , Congcong Li , Alper Ayvaci , Chen Sun , Kevin Murphy , Ruichi Yu
IPC: G05D1/02 , G05D1/00 , G06K9/00 , G06K9/62 , B60W30/095 , G01S17/931
Abstract: Aspects of the disclosure relate to training and using a model for identifying actions of objects. For instance, LIDAR sensor data frames including an object bounding box corresponding to an object as well as an action label for the bounding box may be received. Each sensor frame is associated with a timestamp and is sequenced with respect to other sensor frames. Each given sensor data frame may be projected into a camera image of the object based on the timestamp associated with the given sensor data frame in order to provide fused data. The model may be trained using the fused data such that the model is configured to, in response to receiving fused data, the model outputs an action label for each object bounding box of the fused data. This output may then be used to control a vehicle in an autonomous driving mode.
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公开(公告)号：US12066525B2
公开(公告)日：2024-08-20
申请号：US18344433
申请日：2023-06-29
Applicant: Waymo LLC
CPC classification number: G01S13/867 , B60W30/08 , G01S7/417 , G01S13/86 , G01S13/89 , G01S13/931 , G06T7/70 , B60W2420/403 , B60W2420/408 , B60W2554/00 , B60W2754/10 , G01S2013/93271 , G06T2207/10024 , G06T2207/10028 , G06T2207/20084 , G06T2207/30252
Abstract: Example embodiments relate to techniques for three dimensional (3D) object detection and localization. A computing system may cause a radar unit to transmit radar signals and receive radar reflections relative to an environment of a vehicle. Based on the radar reflections, the computing system may determine a heading and a range for a nearby object. The computing system may also receive an image depicting a portion of the environment that includes the object from a vehicle camera and remove peripheral areas of the image to generate an image patch that focuses upon the object based on the heading and the range for the object. The image patch and the heading and the range for the object can be provided as inputs into a neural network that provides output parameters corresponding to the object, which can be used to control the vehicle.
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公开(公告)号：US20210192757A1
公开(公告)日：2021-06-24
申请号：US16726053
申请日：2019-12-23
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US11043003B2
公开(公告)日：2021-06-22
申请号：US16686840
申请日：2019-11-18
Applicant: Waymo LLC
Inventor： Alper Ayvaci , Yu-Han Chen , Ruichi Yu , Chen Wu , Noha Waheed Ahmed Radwan , Jonathon Shlens
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.
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Patent Agency Ranking
6.发明授权公开(公告)号：US12136271B2
公开(公告)日：2024-11-05
申请号：US17319194
申请日：2021-05-13
Applicant: WAYMO LLC
Inventor： Ruichi Yu , Kang Li , Tao Han , Robert Cosgriff , Henrik Kretzschmar
IPC: G06V20/58 , G01S13/931 , G01S17/931 , G05D1/00 , G06F18/22
Abstract: Aspects of the disclosure relate to controlling a vehicle. For instance, using a camera, a first camera image including a first object may be captured. A first bounding box for the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box for the second image and a distance to the second object may be identified. Whether the first object is the second object may be determined using a plurality of models to compare visual similarity of the two bounding boxes, to compare a three-dimensional location based on the distance to the first object and a three-dimensional location based on the distance to the second object, and to compare results from the first and second models. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
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公开(公告)号：US20240303827A1
公开(公告)日：2024-09-12
申请号：US18600449
申请日：2024-03-08
Applicant: Waymo LLC
Inventor： Longlong Jing , Ruichi Yu , Xu Chen , Zhengli Zhao , Shiwei Sheng
CPC classification number: G06T7/20 , G01S17/89 , G06V10/44 , G06T2207/30241 , G06V2201/07
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for tracking objects in an environment across time. In one aspect, a method comprises: receiving a set of current object detections, each characterizing features of a respective detected object; maintaining data, including track query feature representations, that identifies one or more object tracks (each associated with respective earlier object detections classified as characterizing the same object; and, for each object track: (i) selecting a subset of the current object detections as candidate object detections for the object track, (ii) generating a respective association score for each candidate object detection based on an input derived from the candidate object detections and the track query feature representation for the object track using a track-detection interaction neural network, and (iii) determining whether to associate any of the current object detections with the object track based on the respective association scores.
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公开(公告)号：US11830203B2
公开(公告)日：2023-11-28
申请号：US17728682
申请日：2022-04-25
Applicant: Waymo LLC
Inventor： Ruichi Yu , Sachithra Madhawa Hemachandra , Ian James Mahon , Congcong Li
CPC classification number: G06T7/248 , G06N3/045 , G06N3/084 , G05D1/0088 , G06T2207/20084 , G06T2207/30252
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for associating a new measurement of an object surrounding a vehicle with a maintained track. One of the methods includes receiving an object track for a particular object, receiving a new measurement characterizing a new object at a new time step, and determining whether the new object is the same as the particular object, comprising: generating a representation of the new object at the new and preceding time steps; generating a representation of the particular object at the new and preceding time steps; processing a first network input comprising the representations using a first neural network to generate an embedding of the first network input; and processing the embedding of the first network input using a second neural network to generate a predicted likelihood that the new object and the particular object are the same.
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公开(公告)号：US20230326215A1
公开(公告)日：2023-10-12
申请号：US17715838
申请日：2022-04-07
Applicant: Waymo LLC
Inventor： Ruichi Yu , Xu Chen , Shiwei Sheng , Luming Tang , Chieh-En Tsai
CPC classification number: G06V20/58 , G06V10/82 , G06T7/20 , B60W60/001 , G06T2207/20084 , G06T2207/10028 , B60W2420/42
Abstract: The described aspects and implementations enable efficient calibration of a sensing system of a vehicle. In one implementation, disclosed is a method and a system to perform the method, the system including the sensing system configured to obtain a plurality of images associated with a corresponding time of a plurality of times. The system further includes a data processing system operatively coupled to the sensing system and configured to generate a plurality of sets of feature tensors (FTs) associated with one or more objects of the environment depicted in a respective image. The data processing system is further to obtain a combined FT and process the combined FT using a neural network to identify one or more tracks characterizing motion of a respective object.
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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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