MULTI-MODAL 3-D POSE ESTIMATION
    2.
    发明申请

    公开(公告)号:US20220156965A1

    公开(公告)日:2022-05-19

    申请号:US17505900

    申请日:2021-10-20

    Applicant: Waymo LLC

    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.

    GAZE AND AWARENESS PREDICTION USING A NEURAL NETWORK MODEL

    公开(公告)号:US20230059370A1

    公开(公告)日:2023-02-23

    申请号:US17886747

    申请日:2022-08-12

    Applicant: Waymo LLC

    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for predicting gaze and awareness using a neural network model. One of the methods includes obtaining sensor data (i) that is captured by one or more sensors of an autonomous vehicle and (ii) that characterizes an agent that is in a vicinity of the autonomous vehicle in an environment at a current time point. The sensor data is processed using a gaze prediction neural network to generate a gaze prediction that predicts a gaze of the agent at the current time point. The gaze prediction neural network includes an embedding subnetwork that is configured to process the sensor data to generate an embedding characterizing the agent, and a gaze subnetwork that is configured to process the embedding to generate the gaze prediction.

    PEDESTRIAN CROSSING INTENT YIELDING

    公开(公告)号:US20230062158A1

    公开(公告)日:2023-03-02

    申请号:US17902670

    申请日:2022-09-02

    Applicant: Waymo LLC

    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that determine yield behavior for an autonomous vehicle, and can include identifying an agent that is in a vicinity of an autonomous vehicle navigating through a scene at a current time point. Scene features can be obtained and can include features of (i) the agent and (ii) the autonomous vehicle. An input that can include the scene features can be processed using a first machine learning model that is configured to generate (i) a crossing intent prediction that includes a crossing intent score that represents a likelihood that the agent intends to cross a roadway in a future time window after the current time, and (ii) a crossing action prediction that includes a crossing action score that represents a likelihood that the agent will cross the roadway in the future time window after the current time.

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