公开(公告)号：US20230260266A1

公开(公告)日：2023-08-17

申请号：US18108749

申请日：2023-02-13

Applicant: Waymo LLC

Inventor： Vasiliy Igorevich Karasev ,  Jiakai Zhang ,  Alper Ayvaci ,  Hang Yan ,  James Philbin

IPC: G06V10/80 ,  G01S13/86 ,  G01S7/41 ,  G06V20/58 ,  G06V10/82 ,  G06V10/77

CPC classification number: G06V10/806 ,  G01S13/867 ,  G01S7/417 ,  G01S7/412 ,  G06V20/58 ,  G06V10/82 ,  G06V10/7715

Abstract: A method includes obtaining, by a processing device, input data derived from a set of sensors associated with an autonomous vehicle (AV), extracting, by the processing device from the input data, a plurality of sets of features, generating, by the processing device using the plurality of sets of features, a fused bird's-eye view (BEV) grid. The fused BEV grid is generated based on a first BEV grid having a first scale and a second BEV grid having a second scale different from the first scale. The method further includes providing, by the processing device, the fused BEV grid for object detection.