公开(公告)号：US20240303827A1

公开(公告)日：2024-09-12

申请号：US18600449

申请日：2024-03-08

Applicant: Waymo LLC

Inventor： Longlong Jing ,  Ruichi Yu ,  Xu Chen ,  Zhengli Zhao ,  Shiwei Sheng

IPC: G06T7/20 ,  G01S17/89 ,  G06V10/44

CPC classification number: G06T7/20 ,  G01S17/89 ,  G06V10/44 ,  G06T2207/30241 ,  G06V2201/07

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for tracking objects in an environment across time. In one aspect, a method comprises: receiving a set of current object detections, each characterizing features of a respective detected object; maintaining data, including track query feature representations, that identifies one or more object tracks (each associated with respective earlier object detections classified as characterizing the same object; and, for each object track: (i) selecting a subset of the current object detections as candidate object detections for the object track, (ii) generating a respective association score for each candidate object detection based on an input derived from the candidate object detections and the track query feature representation for the object track using a track-detection interaction neural network, and (iii) determining whether to associate any of the current object detections with the object track based on the respective association scores.

公开(公告)号：US20230072020A1

公开(公告)日：2023-03-09

申请号：US17940665

申请日：2022-09-08

Applicant: Waymo LLC

Inventor： Andre Liang Cornman ,  David Lee ,  Yang Song ,  Zijian Guo ,  Edward Stephen Walker, Jr. ,  Yuanfang Wang ,  Zhengli Zhao ,  Hsu-kuang Chiu

IPC: B60W60/00 ,  G06V20/58

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for open vehicle doors prediction using a neural network model. One of the methods includes: obtaining sensor data (i) that includes a portion of a point cloud generated by a laser sensor of an autonomous vehicle and (ii) that characterizes a vehicle that is in a vicinity of the autonomous vehicle in an environment; and processing the sensor data using an open door prediction neural network to generate an open door prediction that predicts a likelihood score that the vehicle has an open door.