公开(公告)号：US20240096076A1

公开(公告)日：2024-03-21

申请号：US17945325

申请日：2022-09-15

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Ruizhongtai Qi ,  Dragomir Anguelov ,  Minghua Liu ,  Boqing Gong

IPC: G06V10/82 ,  G06V10/80

CPC classification number: G06V10/82 ,  G06V10/80

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a semantic segmentation neural network for point clouds. One of the methods includes: obtaining a plurality of training points divided into a respective plurality of components; obtaining, for each of the respective plurality of components, data identifying a ground truth category for one or more labeled point; processing each training points using a semantic segmentation neural network to generate a semantic segmentation that includes a respective score for each of the plurality of categories; determining a gradient of a loss function that penalizes the semantic segmentation neural network for generating, for points in the component, non-zero scores for categories that are not the ground truth category for any labeled point in the component; and updating, using the gradient, the parameters of the semantic segmentation neural network.