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公开(公告)号：US20210383139A1
公开(公告)日：2021-12-09
申请号：US17406454
申请日：2021-08-19
Applicant: Waymo LLC
Inventor： Zhaoyin Jia , Ury Zhilinsky , Yun Jiang , Yimeng Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object detection predictions from a neural network. In some implementations, an input characterizing a first region of an environment is obtained. The input includes a projected laser image generated from a three-dimensional laser sensor reading of the first region, a camera image patch generated from a camera image of the first region, and a feature vector of features characterizing the first region. The input is processed using a high precision object detection neural network to generate a respective object score for each object category in a first set of one or more object categories. Each object score represents a respective likelihood that an object belonging to the object category is located in the first region of the environment.
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公开(公告)号：US10318827B2
公开(公告)日：2019-06-11
申请号：US15383648
申请日：2016-12-19
Applicant: Waymo LLC
Inventor： Zhaoyin Jia , Ury Zhilinsky , Yun Jiang , Yimeng Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object detection predictions from a neural network. In some implementations, an input characterizing a first region of an environment is obtained. The input includes a projected laser image generated from a three-dimensional laser sensor reading of the first region, a camera image patch generated from a camera image of the first region, and a feature vector of features characterizing the first region. The input is processed using a high precision object detection neural network to generate a respective object score for each object category in a first set of one or more object categories. Each object score represents a respective likelihood that an object belonging to the object category is located in the first region of the environment.
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公开(公告)号：US20180173971A1
公开(公告)日：2018-06-21
申请号：US15383648
申请日：2016-12-19
Applicant: Waymo LLC
Inventor： Zhaoyin Jia , Ury Zhilinsky , Yun Jiang , Yimeng Zhang
CPC classification number: G06K9/00805 , G06K9/00369 , G06K9/4628 , G06K9/6288 , G06N3/00
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object detection predictions from a neural network. In some implementations, an input characterizing a first region of an environment is obtained. The input includes a projected laser image generated from a three-dimensional laser sensor reading of the first region, a camera image patch generated from a camera image of the first region, and a feature vector of features characterizing the first region. The input is processed using a high precision object detection neural network to generate a respective object score for each object category in a first set of one or more object categories. Each object score represents a respective likelihood that an object belonging to the object category is located in the first region of the environment.
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