Google Inc.

Waymo LLC

Christoph Sprunk

Dragomir Dimitrov Anguelov

Zhifeng Chen

Colin Andrew Braley

Chen Wu

Jonathon Shlens

Vijay Vasudevan

Junhua Mao

Jiquan Ngiam

Ouais Alsharif

Wei Han

Benjamin James Caine

Brandon Chauloon Yang

Zhengdong Zhang

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for the generation and use of a surfel map with semantic labels. One of the methods includes receiving a surfel map that includes a plurality of surfels, wherein each surfel has associated data that includes one or more semantic labels; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more surfels corresponding to the one or more locations of the obtained sensor data; identifying one or more semantic labels for the one or more surfels corresponding to the one or more locations of the obtained sensor data; and performing, for each surfel corresponding to the one or more locations of the obtained sensor data, a label-specific detection process for the surfel.

Annotated surfel maps

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for processing data generated by a sensing system that rotationally senses an environment. In one aspect, a method comprises partitioning a predetermined period of time into a plurality of sub-periods, wherein the predetermined period of time is a period of time for which data generated by the sensing system constitutes a complete rotational sensing of the environment; for each sub-period: receiving current data generated by the sensing system during the sub-period and characterizing a respective partial scene of the environment; processing the current data using an object detection neural network to generate a current object detection output that is specific to the respective partial scene of the environment.

Streaming object detection within sensor data

Growing community of inventors

Mountain View, CA, United States of America

Christoph Sprunk