公开(公告)号：US20210150752A1

公开(公告)日：2021-05-20

申请号：US16686840

申请日：2019-11-18

Applicant: Waymo LLC

Inventor： Alper Ayvaci ,  Yu-Han Chen ,  Ruichi Yu ,  Chen Wu ,  Noha Waheed Ahmed Radwan ,  Jonathon Shlens

IPC: G06T7/73 ,  G06T7/50 ,  G06K9/62 ,  G06N3/04 ,  G06N3/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating object interaction predictions using a neural network. One of the methods includes obtaining a sensor input derived from data generated by one or more sensors that characterizes a scene. The sensor input is provided to an object interaction neural network. The object interaction neural network is configured to process the sensor input to generate a plurality of object interaction outputs. Each respective object interaction output includes main object information and interacting object information. The respective object interaction outputs corresponding to the plurality of regions in the sensor input are received as output of the object interaction neural network.

公开(公告)号：US20210064890A1

公开(公告)日：2021-03-04

申请号：US16557246

申请日：2019-08-30

Applicant: Waymo LLC

Inventor： Hyman Murveit ,  Abhijit Ogale ,  Yu-Han Chen ,  Alper Ayvaci

IPC: G06K9/00 ,  G06T7/174 ,  G06K9/62 ,  G05D1/00 ,  G05D1/02 ,  G01S13/93 ,  G01S7/41

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a future occupancy prediction for a region of an environment. In one aspect, a method comprises: receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, wherein: the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time.

公开(公告)号：US20230419678A1

公开(公告)日：2023-12-28

申请号：US17808244

申请日：2022-06-22

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yu-Han Chen ,  Zhibo Yang ,  Xia Chen

IPC: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

CPC classification number: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

Abstract: A method includes obtaining an image representing road objects belonging to a particular class, and generating, based on the image, feature maps that represent visual features of the image. The method also includes determining, based on the feature maps and for each respective road object of the plurality of road objects, a corresponding location at which the respective road object has been detected within the image and a corresponding tag value associated with the respective road object. The method additionally includes determining groups of the road objects based on the tag value of each respective road object, and identifying, for each respective group, a corresponding road condition based on the corresponding locations of the road objects in the respective group and the particular class. The method further includes generating an output that represents the corresponding road condition of each respective group.