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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11106893 B1

PDFFull Text
Date of Patent:
Aug. 31, 2021

Filed:

Nov. 22, 2019

System and method for evaluating the perception system of an autonomous vehicle

Applicant:

Waymo Llc, Mountain View, CA (US);

Inventors:

Jiajun Zhu, Palo Alto, CA (US);

Christopher Paul Urmson, Mountain View, CA (US);

Dirk Haehnel, Sunnyvale, CA (US);

Nathaniel Fairfield, Rockingham, VA (US);

Russell Leigh Smith, Los Altos, CA (US);

Assignee:

Waymo LLC, Mountain View, CA (US);

Attorney:

Botos Churchill IP Law

Primary Examiner:

Wei Wen Yang

Int. Cl.
CPC ...
G06K 9/00 (2006.01); B60T 8/00 (2006.01); B60W 30/08 (2012.01); B60R 1/00 (2006.01); B60T 17/18 (2006.01); B60T 17/22 (2006.01); G06T 7/223 (2017.01); G05D 1/00 (2006.01); G06T 7/20 (2017.01); G01S 17/86 (2020.01); G01C 21/36 (2006.01); G01S 17/931 (2020.01); B60T 8/88 (2006.01); G05D 1/02 (2020.01); G06T 7/231 (2017.01); B60T 7/22 (2006.01); G06T 7/73 (2017.01); G06T 7/521 (2017.01); B60T 8/17 (2006.01); B62D 6/00 (2006.01); G06K 9/32 (2006.01); G01S 13/86 (2006.01); B60W 50/029 (2012.01); B60W 30/186 (2012.01);
U.S. Cl.
CPC ...
G06K 9/00201 (2013.01); B60R 1/00 (2013.01); B60T 7/22 (2013.01); B60T 8/00 (2013.01); B60T 8/17 (2013.01); B60T 8/885 (2013.01); B60T 17/18 (2013.01); B60T 17/221 (2013.01); B60W 30/08 (2013.01); G01C 21/3617 (2013.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G05D 1/021 (2013.01); G05D 1/0214 (2013.01); G05D 1/0276 (2013.01); G06K 9/00805 (2013.01); G06T 7/20 (2013.01); G06T 7/223 (2017.01); G06T 7/231 (2017.01); G06T 7/521 (2017.01); G06T 7/74 (2017.01); B60R 2300/30 (2013.01); B60T 2201/022 (2013.01); B60T 2210/32 (2013.01); B60T 2270/406 (2013.01); B60W 30/186 (2013.01); B60W 2050/0292 (2013.01); B60W 2530/14 (2013.01); B60W 2555/60 (2020.02); B62D 6/00 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G05B 2219/2637 (2013.01); G05D 1/024 (2013.01); G05D 1/0246 (2013.01); G05D 1/0257 (2013.01); G05D 1/0274 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0213 (2013.01); G06K 9/00791 (2013.01); G06K 9/00798 (2013.01); G06K 9/3241 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30236 (2013.01); G06T 2207/30252 (2013.01); G06T 2207/30261 (2013.01);
Abstract

A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

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