公开(公告)号：US20210150350A1

公开(公告)日：2021-05-20

申请号：US17099656

申请日：2020-11-16

申请人： Waymo LLC

发明人： Jiyang Gao ,  Yi Shen ,  Hang Zhao ,  Chen Sun

IPC分类号： G06N3/08

摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.

公开(公告)号：US20220169244A1

公开(公告)日：2022-06-02

申请号：US17540140

申请日：2021-12-01

申请人： Waymo LLC

发明人： Pei Sun ,  Hang Zhao ,  Alexander McCauley ,  Benjamin Sapp ,  Jiyang Gao ,  Dragomir Anguelov ,  Xin Huang ,  Kyriacos Christoforos Shiarlis

IPC分类号： B60W30/095 ,  B60W60/00 ,  B60W50/00 ,  B60W40/04 ,  G06N3/04

摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using temporal-spatial interaction predictions.

公开(公告)号：US20220156972A1

公开(公告)日：2022-05-19

申请号：US17526682

申请日：2021-11-15

申请人： Waymo LLC

发明人： Yu-Han Chen ,  Maya Kabkab ,  Ruichi Yu ,  Yingwei Li ,  Hang Zhao ,  Yu Ouyang

IPC分类号： G06T7/73 ,  G06N3/04 ,  G01S17/89

摘要： 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.

公开(公告)号：US20210390407A1

公开(公告)日：2021-12-16

申请号：US17344254

申请日：2021-06-10

申请人： Waymo LLC

发明人： Vincent Michael Casser ,  Yuning Chai ,  Dragomir Anguelov ,  Hang Zhao ,  Henrik Kretzschmar ,  Reza Mahjourian ,  Anelia Angelova ,  Ariel Gordon ,  Soeren Pirk

IPC分类号： G06N3/08 ,  G06K9/62 ,  G06K9/00

摘要： Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for training a perspective computer vision model. The model is configured to receive input data characterizing an input scene in an environment from an input viewpoint and to process the input data in accordance with a set of model parameters to generate an output perspective representation of the scene from the input viewpoint. The system trains the model based on first data characterizing a scene in the environment from a first viewpoint and second data characterizing the scene in the environment from a second, different viewpoint.

公开(公告)号：US20220180549A1

公开(公告)日：2022-06-09

申请号：US17545987

申请日：2021-12-08

申请人： Waymo LLC

发明人： Longlong Jing ,  Ruichi Yu ,  Jiyang Gao ,  Henrik Kretzschmar ,  Kang Li ,  Ruizhongtai Qi ,  Hang Zhao ,  Alper Ayvaci ,  Xu Chen ,  Dillon Cower ,  Congcong Li

IPC分类号： G06T7/70 ,  G06V10/40 ,  G06V10/80 ,  G06T7/50 ,  G06N20/00

摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting three-dimensional object locations from images. One of the methods includes obtaining a sequence of images that comprises, at each of a plurality of time steps, a respective image that was captured by a camera at the time step; generating, for each image in the sequence, respective pseudo-lidar features of a respective pseudo-lidar representation of a region in the image that has been determined to depict a first object; generating, for a particular image at a particular time step in the sequence, image patch features of the region in the particular image that has been determined to depict the first object; and generating, from the respective pseudo-lidar features and the image patch features, a prediction that characterizes a location of the first object in a three-dimensional coordinate system at the particular time step in the sequence.