Invention Application
- Patent Title: PROCESSING SPARSE TOP-DOWN INPUT REPRESENTATIONS OF AN ENVIRONMENT USING NEURAL NETWORKS
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Application No.: US17527676Application Date: 2021-11-16
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Publication No.: US20220155096A1Publication Date: 2022-05-19
- Inventor: Jinkyu Kim , Reza Mahjourian , Scott Morgan Ettinger , Brandyn Allen White , Benjamin Sapp
- Applicant: Waymo LLC
- Applicant Address: US CA Mountain View
- Assignee: Waymo LLC
- Current Assignee: Waymo LLC
- Current Assignee Address: US CA Mountain View
- Main IPC: G01C21/00
- IPC: G01C21/00 ; G06N3/04 ; G06N3/08

Abstract:
Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a prediction that characterizes an environment. The system obtains an input including data characterizing observed trajectories one or more agents and data characterizing one or more map features identified in a map of the environment. The system generates, from the input, an encoder input that comprises representations for each of a plurality of points in a top-down representation of the environment. The system processes the encoder input using a point cloud encoder neural network to generate a global feature map of the environment, and processes a prediction input including the global feature map using a predictor neural network to generate a prediction output characterizing the environment.
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