公开(公告)号：US20220358314A1

公开(公告)日：2022-11-10

申请号：US17314925

申请日：2021-05-07

Applicant: Waymo LLC

Inventor： Yulai Shen ,  Henrik Kretzschmar ,  Jeffrey Sham ,  Jeffrey Carlson ,  Lo Po Tsui ,  Dragomir Anguelov

IPC: G06K9/00 ,  G06K9/32 ,  G06N20/00

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating and editing object track labels for objects detected in video data. One of the methods includes obtaining a video segment comprising multiple image frames associated with multiple time points; obtaining object track data specifying a set of object tracks; providing, for presentation to a user, a user interface for modifying the object track data, the user interface displaying object timeline representations of the object tracks; receiving one or more user inputs that indicate one or more modifications to the object timeline representations; updating the object timeline representations displayed in the timeline display area; and updating the object track data according to the updated object timeline representations.

公开(公告)号：US12211269B2

公开(公告)日：2025-01-28

申请号：US17314925

申请日：2021-05-07

Applicant: Waymo LLC

Inventor： Yulai Shen ,  Henrik Kretzschmar ,  Jeffrey Sham ,  Jeffrey Carlson ,  Lo Po Tsui ,  Dragomir Anguelov

IPC: G06V20/20 ,  G06N20/00 ,  G06V10/20 ,  G06V20/40

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating and editing object track labels for objects detected in video data. One of the methods includes obtaining a video segment comprising multiple image frames associated with multiple time points; obtaining object track data specifying a set of object tracks; providing, for presentation to a user, a user interface for modifying the object track data, the user interface displaying object timeline representations of the object tracks; receiving one or more user inputs that indicate one or more modifications to the object timeline representations; updating the object timeline representations displayed in the timeline display area; and updating the object track data according to the updated object timeline representations.

公开(公告)号：US20230215044A1

公开(公告)日：2023-07-06

申请号：US17565847

申请日：2021-12-30

Applicant: Waymo LLC

Inventor： Jeffrey Sham ,  Yulai Shen ,  Sandro Alighiero Young ,  Gen Liu

IPC: G06T7/80 ,  G06N3/08

CPC classification number: G06T7/80 ,  G06N3/08 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: Methods and systems for associating labels between multiple sensors. One of the methods includes generating user interface presentation data that, when presented on a user device, causes the user device to display a user interface that: displays the images in the sequence of images and data identifying the first and second object tracks, and is configured to receive user inputs that associate first object tracks with second object tracks; and providing the user interface presentation data for presentation on the user device.

公开(公告)号：US20230377164A1

公开(公告)日：2023-11-23

申请号：US17748460

申请日：2022-05-19

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yulai Shen ,  Congyu Gao ,  Sakshi Madan

IPC: G06T7/187 ,  G06V20/64 ,  G06V10/25 ,  G06T7/50

CPC classification number: G06T7/187 ,  G06V20/647 ,  G06V10/25 ,  G06T7/50 ,  G06T2207/10028

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating label data for one or more target objects in an environment. The system obtains first data characterizing the environment, wherein the first data includes position data characterizing a position of the target object. The system obtains second data including one or more three-dimensional (3D) frames characterizing the environment. The system determines, based on the first data, a guide feature for locating the target object in the 3D frames of the second data. The system receives a first user input that specifies at least an object position in the selected 3D frame, and generates label data for the target object based on the first user input.

公开(公告)号：US20220404823A1

公开(公告)日：2022-12-22

申请号：US17349035

申请日：2021-06-16

Applicant: Waymo LLC

Inventor： Jeffrey Sham ,  Homero Menchaca Hernández ,  Jeffrey Carlson ,  Yulai Shen ,  Ningshan Zhang

IPC: G05D1/00 ,  G06K9/00 ,  G06K9/46 ,  G06K9/20 ,  G05D1/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that generates lane path descriptors for use by autonomous vehicles. One of the methods includes receiving data that defines valid lane paths in a scene in an environment. Each valid lane path represents a path through the scene that can be traversed by a vehicle. User interface presentation data can be provided to a user device. The user interface can contain: (i) a first display area that displays a first visual representation of the sensor measurement; and (ii) a second display area that displays a second visual representation of the set of valid lane paths. User input modifying the second visual representation of the set of valid lane paths can be received; and in response to receiving the user input, the set of valid lane paths of the scene in the environment can be modified.

公开(公告)号：US12039757B2

公开(公告)日：2024-07-16

申请号：US17565847

申请日：2021-12-30

Applicant: Waymo LLC

Inventor： Jeffrey Sham ,  Yulai Shen ,  Sandro Alighiero Young ,  Gen Liu

IPC: G06T7/80 ,  G06N3/08

CPC classification number: G06T7/80 ,  G06N3/08 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: Methods and systems for associating labels between multiple sensors. One of the methods includes generating user interface presentation data that, when presented on a user device, causes the user device to display a user interface that: displays the images in the sequence of images and data identifying the first and second object tracks, and is configured to receive user inputs that associate first object tracks with second object tracks; and providing the user interface presentation data for presentation on the user device.

公开(公告)号：US11892832B2

公开(公告)日：2024-02-06

申请号：US17349035

申请日：2021-06-16

Applicant: Waymo LLC

Inventor： Jeffrey Sham ,  Homero Menchaca Hernández ,  Jeffrey Carlson ,  Yulai Shen ,  Ningshan Zhang

IPC: G05D1/00 ,  G05D1/02 ,  G06V20/58 ,  G06V20/56 ,  G06V10/22 ,  G06V10/44

CPC classification number: G05D1/0016 ,  G05D1/0038 ,  G05D1/0214 ,  G06V10/235 ,  G06V10/457 ,  G06V20/58 ,  G06V20/588

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that generates lane path descriptors for use by autonomous vehicles. One of the methods includes receiving data that defines valid lane paths in a scene in an environment. Each valid lane path represents a path through the scene that can be traversed by a vehicle. User interface presentation data can be provided to a user device. The user interface can contain: (i) a first display area that displays a first visual representation of the sensor measurement; and (ii) a second display area that displays a second visual representation of the set of valid lane paths. User input modifying the second visual representation of the set of valid lane paths can be received; and in response to receiving the user input, the set of valid lane paths of the scene in the environment can be modified.