Waymo LLC

Christopher John Sweeney

Nichola Abdo

Zhifeng Chen

Jonathon Shlens

Alper Ayvaci

Daniel Rudolf Maurer

Robert William Anderson

Philipp Florian Jund

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.

Generating scene flow labels for point clouds using object labels

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating motion detection based on optical flow. One of the methods includes obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene at a second later time point. A point cloud characterizing the scene in the environment is obtained. A predicted optical flow is determined between the first image and the second image. A respective initial flow prediction for the point that represents motion of the point between the two time points is determined. A respective ego motion flow estimate for the point that represents a motion of the point induced by ego motion of the agent is determined. A respective motion prediction that indicates whether the point was static or in motion between the two time points is determined.

Optical flow based motion detection

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San Francisco, CA, United States of America

Christopher John Sweeney