LONG RANGE DISTANCE ESTIMATION USING REFERENCE OBJECTS

    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

    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.

    THREE-DIMENSIONAL LOCATION PREDICTION FROM IMAGES

    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

    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.