Waymo LLC

Zhenpei Yang

Dragomir Dimitrov Anguelov

Yin Zhou

Dumitru Erhan

Pei Sun

Yuning Chai

Henrik Kretzschmar

Sean Rafferty

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generated simulated sensor data. One of the methods includes obtaining a surfel map generated from sensor observations of a real-world environment and generating, for each surfel in the surfel map, a respective grid having a plurality of grid cells, wherein each grid has an orientation matching an orientation of a corresponding surfel, and wherein each grid cell within each grid is assigned a respective color value. For a simulated location within a simulated representation of the real-world environment, a textured surfel rendering is generated, including combining color information from grid cells visible from the simulated location within the simulated representation of the real-world environment.

Generating environmental data

Growing community of inventors

Austin, TX, United States of America

Zhenpei Yang