Generating scene flow labels for point clouds using object labels

    公开(公告)号:US12106528B2

    公开(公告)日:2024-10-01

    申请号:US17684334

    申请日:2022-03-01

    Applicant: Waymo LLC

    CPC classification number: G06T9/002 G06F18/2148

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.

    GENERATING SCENE FLOW LABELS FOR POINT CLOUDS USING OBJECT LABELS

    公开(公告)号:US20220319054A1

    公开(公告)日:2022-10-06

    申请号:US17684334

    申请日:2022-03-01

    Applicant: Waymo LLC

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.

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