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.:
Date of Patent:
Mar. 26, 2024
Filed:
Jul. 27, 2021
Waymo Llc, Mountain View, CA (US);
Yuning Chai, San Mateo, CA (US);
Pei Sun, Palo Alto, CA (US);
Jiquan Ngiam, Mountain View, CA (US);
Weiyue Wang, Sunnyvale, CA (US);
Vijay Vasudevan, Los Altos Hills, CA (US);
Benjamin James Caine, San Francisco, CA (US);
Xiao Zhang, San Jose, CA (US);
Dragomir Anguelov, San Francisco, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing a perspective view range image generated from sensor measurements of an environment. The perspective view range image includes a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors. The system processes the perspective view range image using a first neural network to generate an output feature representation. The first neural network comprises a first perspective point-set aggregation layer comprising a geometry-dependent kernel.