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    SCENE TOKENIZATION FOR MOTION PREDICTION
    3.
    发明申请
    SCENE TOKENIZATION FOR MOTION PREDICTION 有权

    公开(公告)号：US20250166366A1

    公开(公告)日：2025-05-22

    申请号：US18950830

    申请日：2024-11-18

    Applicant: Waymo LLC

    Inventor： Yin Zhou ,  Jingwei Ji ,  Zhenpei Yang ,  Nathan Paul Harada ,  Kan Chen ,  Rami Al-Rfou

    IPC: G06V10/82 ,  B60W60/00 ,  G06V10/80

    Abstract: Methods, systems, and apparatus for predicting future trajectories of agents in an environment. In one aspect, a system comprises one or more computers configured to receive sensor data of an environment having one or more agents. The system decomposes the sensor data into a plurality of scene elements in the environment, and the system generates multiple tokens including a respective token for each respective scene element of the multiple scene elements in the environment. The system processes the multiple tokens using a decoder model to generate a respective predicted trajectory for the one or more agents in the environment.

    3-D OBJECT DETECTION BASED ON SYNTHETIC POINT CLOUD FRAMES
    4.
    发明申请
    3-D OBJECT DETECTION BASED ON SYNTHETIC POINT CLOUD FRAMES 有权

    公开(公告)号：US20250155578A1

    公开(公告)日：2025-05-15

    申请号：US18506925

    申请日：2023-11-10

    Applicant: Waymo LLC

    Inventor： Yingwei Li ,  Ruizhongtai Qi ,  Yin Zhou ,  Chenxi Liu ,  Dragomir Anguelov

    IPC: G01S17/931

    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for processing point cloud data to generate an output. In one aspect, a method includes obtaining a sequence of multiple point cloud frames, wherein the sequence of multiple point cloud frames comprise a target point cloud frame and a plurality of other point cloud frames; processing one or more other point cloud frames to generate one or more respective predicted locations at the target timestamp for each of one or more objects detected in the one or more other point cloud frames; generating, based on the respective predicted locations at the target timestamp for each of one or more objects, a synthetic point cloud frame that is associated with the target timestamp; and processing at least the synthetic point cloud frame to generate one or more outputs that characterize an environment at the target timestamp.

    Object-centric three-dimensional auto labeling of point cloud data
    6.
    发明授权
    Object-centric three-dimensional auto labeling of point cloud data 有权

    公开(公告)号：US12073575B2

    公开(公告)日：2024-08-27

    申请号：US17407795

    申请日：2021-08-20

    Applicant: Waymo LLC

    Inventor： Ruizhongtai Qi ,  Yin Zhou ,  Dragomir Anguelov ,  Pei Sun

    IPC: G06T7/521 ,  G06T7/20

    CPC classification number: G06T7/521 ,  G06T7/20 ,  G06T2207/10028 ,  G06T2207/20084

    Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing three-dimensional auto-labeling on sensor data. The system obtains a sensor data segment that includes a temporal sequence of three-dimensional point clouds generated from sensor readings of an environment by one or more sensors. The system identifies, from the sensor data segment, (i) a plurality of object tracks that each corresponds to a different object in the environment and (ii) for each object track, respective initial three-dimensional regions in each of one or more of the point clouds in which the corresponding object appears. The system generates, for each object track, extracted object track data that includes at least the points in the respective initial three-dimensional regions for the object track. The system further generates, for each object track and from the extracted object track data for the object track, an auto labeling output that defines respective refined three-dimensional regions in each of the one or more point clouds.

    Generating realistic point clouds
    7.
    发明授权
    Generating realistic point clouds 有权

    公开(公告)号：US11295517B2

    公开(公告)日：2022-04-05

    申请号：US17099589

    申请日：2020-11-16

    Applicant: Waymo LLC

    Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

    IPC: G06T17/00 ,  G06N20/00 ,  G06K9/00 ,  G06N3/04

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

    Generating realistic point clouds
    9.
    发明授权
    Generating realistic point clouds 有权

    公开(公告)号：US11922569B2

    公开(公告)日：2024-03-05

    申请号：US17713108

    申请日：2022-04-04

    Applicant: Waymo LLC

    Inventor： Yin Zhou ,  Dragomir Anguelov ,  Zhangjie Cao

    IPC: G06T17/00 ,  G06N3/045 ,  G06N20/00 ,  G06V20/10

    CPC classification number: G06T17/00 ,  G06N3/045 ,  G06N20/00 ,  G06V20/10

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

    HIGH THROUGHPUT POINT CLOUD PROCESSING
    10.
    发明公开
    HIGH THROUGHPUT POINT CLOUD PROCESSING 审中-公开

    公开(公告)号：US20240062386A1

    公开(公告)日：2024-02-22

    申请号：US18235292

    申请日：2023-08-17

    Applicant: Waymo LLC

    Inventor： Ruizhongtai Qi ,  Yurong You ,  Yingwei Li ,  Chenxi Liu ,  Yin Zhou

    IPC: G06T7/246 ,  G06T7/215

    CPC classification number: G06T7/246 ,  G06T7/215 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing sensor data, e.g., laser sensor data, using neural networks. One of the methods includes obtaining a temporal sequence of multiple three-dimensional point clouds generated from sensor readings of an environment collected by one or more sensors within a given time period, each three-dimensional point cloud comprising a respective plurality of points in a first coordinate system; processing, using a feature extraction neural network, an input that comprises data derived from the temporal sequence of multiple three-dimensional point clouds to generate a feature embedding; receiving a query that specifies one time point within the given time period; and generating, from the feature embedding and conditioned on the query, one or more outputs that characterize one or more objects in the environment at the time point specified in the received query.

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