公开(公告)号：US20210390407A1

公开(公告)日：2021-12-16

申请号：US17344254

申请日：2021-06-10

Applicant: Waymo LLC

Inventor： Vincent Michael Casser ,  Yuning Chai ,  Dragomir Anguelov ,  Hang Zhao ,  Henrik Kretzschmar ,  Reza Mahjourian ,  Anelia Angelova ,  Ariel Gordon ,  Soeren Pirk

IPC: G06N3/08 ,  G06K9/62 ,  G06K9/00

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for training a perspective computer vision model. The model is configured to receive input data characterizing an input scene in an environment from an input viewpoint and to process the input data in accordance with a set of model parameters to generate an output perspective representation of the scene from the input viewpoint. The system trains the model based on first data characterizing a scene in the environment from a first viewpoint and second data characterizing the scene in the environment from a second, different viewpoint.