US 12,204,969 B2
Automatic labeling of objects in sensor data
Justin Thorsen, Issaquah, WA (US); Changchang Wu, Bothell, WA (US); Alper Ayvaci, San Jose, CA (US); Tiffany Chen, Santa Clara, CA (US); Lo Po Tsui, Mountain View, CA (US); Zhinan Xu, San Jose, CA (US); Chen Wu, Cupertino, CA (US); and Sean Rafferty, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Aug. 23, 2022, as Appl. No. 17/893,376.
Application 17/893,376 is a continuation of application No. 16/827,835, filed on Mar. 24, 2020, granted, now 11,475,263.
Prior Publication US 2023/0046289 A1, Feb. 16, 2023
Int. Cl. G06K 19/067 (2006.01); G09F 3/00 (2006.01)
CPC G06K 19/067 (2013.01) [G09F 3/0291 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a perception system including:
a first sensor rotating at a frequency and configured to generate first sensor data during a single rotation of the first sensor, the first sensor data identifying first location and orientation of the vehicle at a first point in time, and
a second sensor configured to generate second sensor data identifying a second location and orientation of the vehicle at a second point in time different from the first point in time, wherein a difference in time between the first point in time and the second point in time is based on the frequency of rotation of the first sensor; and
one or more computing devices having one or more processors configured to control the vehicle in an autonomous driving mode based on the first sensor data and the second sensor data.