公开(公告)号：US10204278B2

公开(公告)日：2019-02-12

申请号：US15094776

申请日：2016-04-08

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Jonathan Baldwin Dowdall ,  David Ian Ferguson

IPC: G06K9/00 ,  G05D1/02 ,  G01V11/00 ,  G01S13/04 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S19/13 ,  G05D1/00 ,  G06K9/62

Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.

公开(公告)号：US10699167B1

公开(公告)日：2020-06-30

申请号：US16165468

申请日：2018-10-19

Applicant: Waymo LLC

Inventor： Jonathan Baldwin Dowdall ,  Nafees Ahmed ,  Lo Po Tsui ,  Peter Morton

IPC: G06K9/62 ,  G06K9/00 ,  G06F3/0484 ,  G06F3/0481

Abstract: Aspects of the disclosure relate to generating a grid or a visual list to facilitate operator review of labels. The system receives a first set of labels generated by a first labeling source and a second set of labels generated by a second labeling source. The first set of labels and the second set of labels each classify one or more objects perceived in one or more scenes captured by a sensor of a vehicle, such that each of the one or more objects has a corresponding first label and a corresponding second label. The system determines discrepancies between the corresponding first label and the corresponding second label for each of the one or more objects, and generates a grid or a visual list using the determined discrepancies. The system provides the grid or the visual list for display to a human operator.

公开(公告)号：US10508986B1

公开(公告)日：2019-12-17

申请号：US15959611

申请日：2018-04-23

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

IPC: G01N21/27 ,  G05D1/00 ,  G01S17/08

Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

公开(公告)号：US11802831B1

公开(公告)日：2023-10-31

申请号：US16677271

申请日：2019-11-07

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

IPC: G01N21/27 ,  G01S17/08 ,  G05D1/00

CPC classification number: G01N21/27 ,  G01S17/08 ,  G05D1/0088

Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

公开(公告)号：US11068726B1

公开(公告)日：2021-07-20

申请号：US16244554

申请日：2019-01-10

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Jonathan Baldwin Dowdall ,  David Ian Ferguson

IPC: G06K9/48 ,  G06K9/00 ,  G01V11/00 ,  G01S13/04 ,  G05D1/02 ,  G01S13/931 ,  G06K9/62 ,  G05D1/00 ,  G01S19/13 ,  G01S17/04 ,  G01S17/931

Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.

公开(公告)号：US09958379B1

公开(公告)日：2018-05-01

申请号：US14955186

申请日：2015-12-01

Applicant: Waymo LLC

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

IPC: G01C3/08 ,  G01N21/27 ,  G01S17/08 ,  G05D1/00

CPC classification number: G01N21/27 ,  F16L55/00 ,  G01C3/08 ,  G01S7/4808 ,  G01S7/497 ,  G01S17/023 ,  G01S17/08 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088

Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.