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公开(公告)号：US20210012089A1
公开(公告)日：2021-01-14
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
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公开(公告)号：US11670038B2
公开(公告)日：2023-06-06
申请号：US17516073
申请日：2021-11-01
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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Patent Agency Ranking
公开(公告)号：US20220058858A1
公开(公告)日：2022-02-24
申请号：US17516073
申请日：2021-11-01
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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公开(公告)号：US11941875B2
公开(公告)日：2024-03-26
申请号：US17443674
申请日：2021-07-27
Applicant: Waymo LLC
Inventor： Yuning Chai , Pei Sun , Jiquan Ngiam , Weiyue Wang , Vijay Vasudevan , Benjamin James Caine , Xiao Zhang , Dragomir Anguelov
IPC: G06V20/00 , G01S7/48 , G01S17/89 , G06F18/21 , G06F18/213 , G06F18/25 , G06N3/08 , G06T7/70 , G06V10/94 , H04N23/10
CPC classification number: G06V20/00 , G01S7/4802 , G01S17/89 , G06F18/213 , G06F18/217 , G06F18/253 , G06N3/08 , G06T3/4046 , G06T7/70 , G06V10/95 , H04N23/10 , G06T2207/20084
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing a perspective view range image generated from sensor measurements of an environment. The perspective view range image includes a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors. The system processes the perspective view range image using a first neural network to generate an output feature representation. The first neural network comprises a first perspective point-set aggregation layer comprising a geometry-dependent kernel.
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公开(公告)号：US20210012555A1
公开(公告)日：2021-01-14
申请号：US16924080
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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公开(公告)号：US11450120B2
公开(公告)日：2022-09-20
申请号：US16923823
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Jonathon Shlens , Patrick An Phu Nguyen , Benjamin James Caine , Jiquan Ngiam , Wei Han , Brandon Chauloon Yang , Yuning Chai , Pei Sun , Yin Zhou , Xi Yi , Ouais Alsharif , Zhifeng Chen , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.
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公开(公告)号：US11164363B2
公开(公告)日：2021-11-02
申请号：US16924080
申请日：2020-07-08
Applicant: Waymo LLC
Inventor： Yin Zhou , Pei Sun , Yu Zhang , Dragomir Anguelov , Jiyang Gao , Yu Ouyang , Zijian Guo , Jiquan Ngiam , Vijay Vasudevan
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using dynamic voxelization. When deployed within an on-board system of a vehicle, processing the point cloud data using dynamic voxelization can be used to make autonomous driving decisions for the vehicle with enhanced accuracy, for example by combining representations of point cloud data characterizing a scene from multiple views of the scene.
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