Google Inc.

Waymo LLC

Joshua Ruizhi Wang

Shanmugasundaram Ravikumar

Erik Nathan Vee

Manish Deepak Purohit

Zoya Svitkina

Luke Wachter

Gil Shotan

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for scheduling operations represented on a computation graph. One of the methods receiving, by a computation graph system, a request to generate a schedule for processing a computation graph, obtaining data representing the computation graph generating a separator of the computation graph; and generating the schedule to perform the operations represented in the computation graph, wherein generating the schedule comprises: initializing the schedule with zero nodes; for each node in the separator: determining whether the node has any predecessor nodes in the computation graph, when the node has any predecessor nodes, adding the predecessor nodes to the schedule, and adding the node in the schedule, and adding to the schedule each node in each subgraph that is not a predecessor to any node in the separator on the computation graph.

Scheduling operations on a computation graph

One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging device (LIDAR). A first image of the plurality may be indicative of a view, via one or more optical elements of the LIDAR, of a receiver of the LIDAR. The method also involves determining simulated detector positions for intercepting reflections of simulated light beams associated with a plurality of light sources in a transmitter of the LIDAR. The method also involves determining one or more alignment offsets between the transmitter and the receiver based on at least the simulated detector positions and the plurality of images.

LIDAR optics alignment system

Growing community of inventors

Mountain View, CA, United States of America

Joshua Ruizhi Wang