Waymo LLC

Congyu Gao

Nicholas Armstrong-Crews

Brandyn White

Sean Rafferty

Dirk Haehnel

Peter Colijn

Laurens Andreas Feenstra

Ryan Cash

Ryan Joseph Andrade

Maya Kabkab

Yulai Shen

Steven Reis

Sakshi Madan

Omari Stephens

Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating label data for one or more target objects in an environment. The system obtains first data characterizing the environment, wherein the first data includes position data characterizing a position of the target object. The system obtains second data including one or more three-dimensional (3D) frames characterizing the environment. The system determines, based on the first data, a guide feature for locating the target object in the 3D frames of the second data. The system receives a first user input that specifies at least an object position in the selected 3D frame, and generates label data for the target object based on the first user input.

Object labeling for three-dimensional data

Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.

Automatic labeling of objects in sensor data

Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.

Fleet management for vehicles using operation modes

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Palo Alto, CA, United States of America

Congyu Gao