公开(公告)号：US20250014357A1

公开(公告)日：2025-01-09

申请号：US18892711

申请日：2024-09-23

Applicant: Waymo LLC

Inventor： Ruichi Yu ,  Kang Li ,  Tao Han ,  Robert Cosgriff ,  Henrik Kretzschmar

IPC: G06V20/58 ,  G01S13/931 ,  G01S17/931 ,  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.

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.

公开(公告)号：US20220366175A1

公开(公告)日：2022-11-17

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: G06K9/00 ,  G06K9/62 ,  G05D1/00 ,  G05D1/02 ,  G01S17/931 ,  G01S13/931

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.