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:
Jul. 29, 2025
Filed:
Mar. 22, 2024
Waymo Llc, Mountain View, CA (US);
Jingxiao Zheng, San Jose, CA (US);
Xinwei Shi, Cupertino, CA (US);
Alexander Gorban, Scotts Valley, CA (US);
Junhua Mao, Palo Alto, CA (US);
Andre Liang Cornman, San Francisco, CA (US);
Yang Song, San Jose, CA (US);
Ting Liu, Los Angeles, CA (US);
Ruizhongtai Qi, Mountain View, CA (US);
Yin Zhou, San Jose, CA (US);
Congcong Li, Cupertino, CA (US);
Dragomir Anguelov, San Francisco, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.