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公开(公告)号：US20220343657A1
公开(公告)日：2022-10-27
申请号：US17862499
申请日：2022-07-12
Applicant: Waymo LLC
Inventor： Hyman Murveit , Abhijit Ogale , Yu-Han Chen , Alper Ayvaci
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a future occupancy prediction for a region of an environment. In one aspect, a method comprises: receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, wherein: the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time.
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公开(公告)号：US20220156972A1
公开(公告)日：2022-05-19
申请号：US17526682
申请日：2021-11-15
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Maya Kabkab , Ruichi Yu , Yingwei Li , Hang Zhao , Yu Ouyang
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a distance estimate for a target object that is depicted in an image of a scene in an environment. The system obtains data specifying (i) a target portion of the image that depicts the target object detected in the image, and (ii) one or more reference portions of the image that each depict a respective reference object detected in the image. The system further obtains, for each of the one or more reference objects, a respective distance measurement for the reference object that is a measurement of a distance from the reference object to a specified location in the environment. The system processes the obtained data to generate a distance estimate for the target object that is an estimate of a distance from the target object to the specified location in the environment.
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公开(公告)号：US11772654B2
公开(公告)日：2023-10-03
申请号：US17862499
申请日：2022-07-12
Applicant: Waymo LLC
Inventor： Hyman Murveit , Abhijit Ogale , Yu-Han Chen , Alper Ayvaci
IPC: B60W30/18 , G06T7/174 , G05D1/00 , G05D1/02 , G01S13/931 , G01S7/41 , G06V20/58 , G06F18/214 , G06V10/25 , G06V10/774 , G06V10/80
CPC classification number: B60W30/18159 , G01S7/417 , G01S13/931 , G05D1/0088 , G05D1/0212 , G05D1/0231 , G05D1/0257 , G06F18/2155 , G06T7/174 , G06V10/25 , G06V10/7753 , G06V10/811 , G06V20/58 , G01S2013/9323 , G05D2201/0213 , G06T2207/20084 , G06T2207/20132
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a future occupancy prediction for a region of an environment. In one aspect, a method comprises: receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, wherein: the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time.
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公开(公告)号：US20210364637A1
公开(公告)日：2021-11-25
申请号：US17394861
申请日：2021-08-05
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Wan-Yen Lo , Alper Ayvaci , Abhijit Ogale , Hyman Murveit
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a location of a particular object relative to a vehicle. In one aspect, a method includes obtaining sensor data captured by one or more sensors of a vehicle. The sensor data is processed by a convolutional neural network to generate a sensor feature representation of the sensor data. Data is obtained which defines a particular spatial region in the sensor data that has been classified as including sensor data that characterizes the particular object. An object feature representation of the particular object is generated from a portion of the sensor feature representation corresponding to the particular spatial region. The object feature representation of the particular object is processed using a localization neural network to generate the location of the particular object relative to the vehicle.
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公开(公告)号：US11105924B2
公开(公告)日：2021-08-31
申请号：US16151880
申请日：2018-10-04
Applicant: Waymo LLC
Inventor： Yu-Han Chen , Wan-Yen Lo , Alper Ayvaci , Abhijit Ogale , Hyman Murveit
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a location of a particular object relative to a vehicle. In one aspect, a method includes obtaining sensor data captured by one or more sensors of a vehicle. The sensor data is processed by a convolutional neural network to generate a sensor feature representation of the sensor data. Data is obtained which defines a particular spatial region in the sensor data that has been classified as including sensor data that characterizes the particular object. An object feature representation of the particular object is generated from a portion of the sensor feature representation corresponding to the particular spatial region. The object feature representation of the particular object is processed using a localization neural network to generate the location of the particular object relative to the vehicle.
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Patent Agency Ranking
公开(公告)号：US11043003B2
公开(公告)日：2021-06-22
申请号：US16686840
申请日：2019-11-18
Applicant: Waymo LLC
Inventor： Alper Ayvaci , Yu-Han Chen , Ruichi Yu , Chen Wu , Noha Waheed Ahmed Radwan , Jonathon Shlens
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.
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7.发明公开公开(公告)号：US20240096105A1
公开(公告)日：2024-03-21
申请号：US17884356
申请日：2022-08-09
Applicant: Waymo LLC
Inventor： Albert Zhao , Vasiliy Igorevich Karasev , Hang Yan , Daniel Rudolf Maurer , Alper Ayvaci , Yu-Han Chen
CPC classification number: G06V20/58 , G06T7/55 , G06V10/44 , G06V10/82 , G06T2207/20081 , G06T2207/20084 , G06T2207/30252
Abstract: The described aspects and implementations enable efficient detection and classification of objects with machine learning models that deploy a bird's-eye view representation and are trained using depth ground truth data. In one implementation, disclosed are system and techniques that include obtaining images, generating, using a first neural network (NN), feature vectors (FVs) and depth distributions pixels of images, wherein the first NN is trained using training images and a depth ground truth data for the training images. The techniques further include obtaining a feature tensor (FT) in view of the FVs and the depth distributions, and processing the obtained FTs, using a second NN, to identify one or more objects depicted in the images.
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公开(公告)号：US11544869B2
公开(公告)日：2023-01-03
申请号：US17342434
申请日：2021-06-08
Applicant: Waymo LLC
Inventor： Alper Ayvaci , Yu-Han Chen , Ruichi Yu , Chen Wu , Noha Waheed Ahmed Radwan , Jonathon Shlens
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.
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公开(公告)号：US20210295555A1
公开(公告)日：2021-09-23
申请号：US17342434
申请日：2021-06-08
Applicant: Waymo LLC
Inventor： Alper Ayvaci , Yu-Han Chen , Ruichi Yu , Chen Wu , Noha Waheed Ahmed Radwan , Jonathon Shlens
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.
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公开(公告)号：US20210150752A1
公开(公告)日：2021-05-20
申请号：US16686840
申请日：2019-11-18
Applicant: Waymo LLC
Inventor： Alper Ayvaci , Yu-Han Chen , Ruichi Yu , Chen Wu , Noha Waheed Ahmed Radwan , Jonathon Shlens
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.
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