公开(公告)号：US11295517B2

公开(公告)日：2022-04-05

申请号：US17099589

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

IPC: G06T17/00 ,  G06N20/00 ,  G06K9/00 ,  G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

公开(公告)号：US11922569B2

公开(公告)日：2024-03-05

申请号：US17713108

申请日：2022-04-04

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

IPC: G06T17/00 ,  G06N3/045 ,  G06N20/00 ,  G06V20/10

CPC classification number: G06T17/00 ,  G06N3/045 ,  G06N20/00 ,  G06V20/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

公开(公告)号：US20220230387A1

公开(公告)日：2022-07-21

申请号：US17713108

申请日：2022-04-04

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

IPC: G06T17/00 ,  G06N20/00 ,  G06N3/04 ,  G06V20/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object;
and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

公开(公告)号：US20210150807A1

公开(公告)日：2021-05-20

申请号：US17099589

申请日：2020-11-16

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

IPC: G06T17/00 ,  G06N3/04 ,  G06K9/00 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.