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公开(公告)号：US20250103844A1
公开(公告)日：2025-03-27
申请号：US18973983
申请日：2024-12-09
Applicant: Waymo LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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公开(公告)号：US12154212B2
公开(公告)日：2024-11-26
申请号：US17098943
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Zhenpei Yang , Yuning Chai , Yin Zhou , Pei Sun , Henrik Kretzschmar , Sean Rafferty , Dumitru Erhan , Dragomir Anguelov
IPC: G06T17/05 , B60W30/095 , B60W50/06 , B60W60/00 , G06N3/045 , G06N3/08 , G06T7/70 , G06T9/00 , G06T15/00 , G06T15/04
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.
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公开(公告)号：US11481579B2
公开(公告)日：2022-10-25
申请号：US16833018
申请日：2020-03-27
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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公开(公告)号：US12204969B2
公开(公告)日：2025-01-21
申请号：US17893376
申请日：2022-08-23
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data, for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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公开(公告)号：US20230019893A1
公开(公告)日：2023-01-19
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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Patent Agency Ranking
公开(公告)号：US20210303956A1
公开(公告)日：2021-09-30
申请号：US16827835
申请日：2020-03-24
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a first vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for a vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. The object is a static object may be determined. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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公开(公告)号：US20210150799A1
公开(公告)日：2021-05-20
申请号：US17098943
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Zhenpei Yang , Yuning Chai , Yin Zhou , Pei Sun , Henrik Kretzschmar , Sean Rafferty , Dumitru Erhan , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.
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公开(公告)号：US12159451B2
公开(公告)日：2024-12-03
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
IPC: G06V20/56 , B60W60/00 , G01C21/36 , G06F18/214 , G06V10/774 , G06V20/58 , H04W4/021
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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公开(公告)号：US20230046289A1
公开(公告)日：2023-02-16
申请号：US17893376
申请日：2022-08-23
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data, for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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公开(公告)号：US11475263B2
公开(公告)日：2022-10-18
申请号：US16827835
申请日：2020-03-24
Applicant: WAYMO LLC
Inventor： Justin Thorsen , Changchang Wu , Alper Ayvaci , Tiffany Chen , Lo Po Tsui , Zhinan Xu , Chen Wu , Sean Rafferty
IPC: G06K19/067 , G09F3/00
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance, first sensor data for a vehicle may be identified. This first sensor data may have been captured by a first sensor of the vehicle at a first location during a first point in time and may be associated with a first label for an object. Second sensor data for the vehicle may be identified. The second sensor data may have been captured by a second sensor of the vehicle at a second location at a second point in time outside of the first point in time. The second location is different from the first location. A determination may be made as to whether the object is a static object. Based on the determination that the object is a static object, the first label may be used to automatically generate a second label for the second sensor data.
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