# US 9,563,199 (USPTO)

Assisted perception for autonomous vehicles. Early Waymo perception patent (supplemental object identification for low-confidence detections in the self-driving stack). Originally assigned to Google LLC and reassigned to Waymo LLC at the 2017 spinout: part of the foundational self-driving estate that moved from Google to Waymo. Granted and active.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 9,563,199
- Filing date: 2014-04-16
- Priority date: 2013-11-27
- Grant date: 2017-02-07
- Verification posture: verified

## Parties (2)

- **assignee**: [Waymo](/companies/waymo.md) (verified)
- **original applicant**: Google LLC (verified)

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