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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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Patent Agency Ranking
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：US12175767B2
公开(公告)日：2024-12-24
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
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：US20230038842A1
公开(公告)日：2023-02-09
申请号：US17444338
申请日：2021-08-03
Applicant: Waymo LLC
Inventor： Ruichi Yu , Shiwei Sheng , Kang Li , Xu Chen
Abstract: The described aspects and implementations enable fast and accurate object identification in autonomous vehicle (AV) applications by combining radar data with camera images. In one implementation, disclosed is a method and a system to perform the method that includes obtaining a radar image of a first hypothetical object in an environment of the AV, obtaining a camera image of a second hypothetical object in the environment of the AV, and processing the radar image and the camera image using one or more machine-learning models MLMs to obtain a prediction measure representing a likelihood that the first hypothetical object and the second hypothetical object correspond to a same object in the environment of the AV.
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公开(公告)号：US20250078927A1
公开(公告)日：2025-03-06
申请号：US18953053
申请日：2024-11-19
Applicant: Waymo LLC
Inventor： Ruichi Yu , Xu Chen , Shiwei Sheng , Luming Tang , Chieh-En Tsai
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：US20250022143A1
公开(公告)日：2025-01-16
申请号：US18221577
申请日：2023-07-13
Applicant: Waymo LLC
Inventor： Qinru Li , Longlong Jing , Ruichi Yu , Xu Chen , Shiwei Sheng
Abstract: The described aspects and implementations enable efficient and seamless tracking of objects in vehicle environments using different sensing modalities across a wide range of distances. A perception system of a vehicle deploys an object tracking pipeline with a plurality of models that include a camera model trained to perform, using camera images, object tracking at distances exceeding a lidar sensing range, a lidar model trained to perform, using lidar images, object tracking at distances within the lidar sensing range, and a camera-lidar model trained to transfer, using the camera images and the lidar images, object tracking from the camera model to the lidar model.
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