中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

36 records (took 0.017 seconds)

    Verification of iterative closest point alignments for autonomous vehicles
    2.
    发明授权
    Verification of iterative closest point alignments for autonomous vehicles 有权

    公开(公告)号：US12079004B2

    公开(公告)日：2024-09-03

    申请号：US17405715

    申请日：2021-08-18

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Christian Lauterbach

    IPC: G05D1/00 ,  G01S13/86 ,  G01S17/89

    CPC classification number: G05D1/0248 ,  G01S13/865 ,  G01S17/89 ,  G05D1/0088 ,  G05D1/0221

    Abstract: Aspects of the disclosure relate to training and using a model for verifying accuracy of ICP alignments or alignments between data points using an iterative closest point algorithm. For instance, a model may be trained using ICP alignment data, including alignments between an object appearing in LIDAR sensor frames. The training may also include setting a definition for a trusted ICP alignment. In this regard, the model may be trained such that, n response to receiving additional LIDAR sensor frames and corresponding additional ICP alignment data, output a value indicative of whether the additional ICP alignment data is trusted according to the definition. The model may then be used to control a vehicle in an autonomous driving mode by determining whether alignment data for object determined using the ICP algorithm should be trusted.

    FILTERING RETURN POINTS IN A POINT CLOUD BASED ON RADIAL VELOCITY MEASUREMENT
    4.
    发明申请
    FILTERING RETURN POINTS IN A POINT CLOUD BASED ON RADIAL VELOCITY MEASUREMENT 有权

    公开(公告)号：US20220153297A1

    公开(公告)日：2022-05-19

    申请号：US16952930

    申请日：2020-11-19

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

    IPC: B60W60/00 ,  G06K9/00 ,  G01S13/931 ,  G01S13/50

    Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

    POINT CLOUD SEGMENTATION USING A COHERENT LIDAR FOR AUTONOMOUS VEHICLE APPLICATIONS
    5.
    发明申请
    POINT CLOUD SEGMENTATION USING A COHERENT LIDAR FOR AUTONOMOUS VEHICLE APPLICATIONS 有权

    公开(公告)号：US20220137227A1

    公开(公告)日：2022-05-05

    申请号：US17087464

    申请日：2020-11-02

    Applicant: Waymo LLC

    Inventor： Nicholas Armstrong-Crews ,  Mingcheng Chen ,  Xiaoxiang Hu

    IPC: G01S17/931 ,  G01S17/58 ,  G01S17/89 ,  B60W60/00 ,  B60W30/095 ,  B60W30/09

    Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.

    Localization initialization for autonomous vehicles
    6.
    发明授权
    Localization initialization for autonomous vehicles 有权

    公开(公告)号：US11105927B2

    公开(公告)日：2021-08-31

    申请号：US16204534

    申请日：2018-11-29

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Colin Braley ,  Craig Lewin Robinson ,  Christian Lauterbach

    IPC: G05D1/02 ,  E04H6/00 ,  E04H6/42 ,  G01S17/89 ,  G05D1/00

    Abstract: The technology relates to localizing a vehicle. As one approach, a first LIDAR sensor scan data of an environment of the vehicle and localization data for the vehicle at a location where the first LIDAR sensor scan was captured are stored. Thereafter, the computing device is suspended and subsequently unsuspended. After the computing device is unsuspended, second LIDAR sensor scan data of the vehicle's environment is received. The first LIDAR sensor scan data is compared to the second LIDAR sensor scan data to determine whether the vehicle has moved. Based on the determination of whether the vehicle has moved from the location, the stored localization data is used to localize the vehicle. Other approaches are also described.

    Laser waveform embedding
    8.
    发明授权
    Laser waveform embedding 有权

    公开(公告)号：US11630209B2

    公开(公告)日：2023-04-18

    申请号：US16506141

    申请日：2019-07-09

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Colin Braley

    IPC: G01S17/89 ,  G05D1/02 ,  G01S17/931 ,  G01S17/10 ,  G01S7/4865 ,  G06N3/04 ,  G06N3/08

    Abstract: A system includes a light detection and ranging device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point. The system also includes a signal processor configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point. The system additionally includes an embedding model configured to determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values representative of the physical characteristics of the respective point. The system further includes a feature detector configured to detect or classify a physical feature based on (i) the corresponding positions of one or more points of the plurality of points and (ii) the corresponding vectors of the one or more points.

Patent Agency Ranking