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公开(公告)号：US11783568B2
公开(公告)日：2023-10-10
申请号：US17224763
申请日：2021-04-07
Applicant: Waymo LLC
Inventor： Junhua Mao , Qian Yu , Congcong Li
IPC: G06N3/08 , G06V20/58 , G06V10/764 , G05D1/00 , G05D1/02 , G06F18/2413 , G06V10/82
CPC classification number: G06V10/764 , G05D1/0088 , G05D1/0221 , G05D1/0231 , G06F18/2413 , G06N3/08 , G06V10/82 , G06V20/58 , G05D2201/0213
Abstract: Some aspects of the subject matter disclosed herein include a system implemented on one or more data processing apparatuses. The system can include an interface configured to obtain, from one or more sensor subsystems, sensor data describing an environment of a vehicle, and to generate, using the sensor data, (i) one or more first neural network inputs representing sensor measurements for a particular object in the environment and (ii) a second neural network input representing sensor measurements for at least a portion of the environment that encompasses the particular object and additional portions of the environment that are not represented by the one or more first neural network inputs; and a convolutional neural network configured to process the second neural network input to generate an output, the output including a plurality of feature vectors that each correspond to a different one a plurality of regions of the environment.
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公开(公告)号：US20210326609A1
公开(公告)日：2021-10-21
申请号：US17224763
申请日：2021-04-07
Applicant: Waymo LLC
Inventor： Junhua Mao , Qian Yu , Congcong Li
Abstract: Some aspects of the subject matter disclosed herein include a system implemented on one or more data processing apparatuses. The system can include an interface configured to obtain, from one or more sensor subsystems, sensor data describing an environment of a vehicle, and to generate, using the sensor data, (i) one or more first neural network inputs representing sensor measurements for a particular object in the environment and (ii) a second neural network input representing sensor measurements for at least a portion of the environment that encompasses the particular object and additional portions of the environment that are not represented by the one or more first neural network inputs; and a convolutional neural network configured to process the second neural network input to generate an output, the output including a plurality of feature vectors that each correspond to a different one a plurality of regions of the environment.
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公开(公告)号：US10977501B2
公开(公告)日：2021-04-13
申请号：US16230187
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： Junhua Mao , Qian Yu , Congcong Li
Abstract: Some aspects of the subject matter disclosed herein include a system implemented on one or more data processing apparatuses. The system can include an interface configured to obtain, from one or more sensor subsystems, sensor data describing an environment of a vehicle, and to generate, using the sensor data, (i) one or more first neural network inputs representing sensor measurements for a particular object in the environment and (ii) a second neural network input representing sensor measurements for at least a portion of the environment that encompasses the particular object and additional portions of the environment that are not represented by the one or more first neural network inputs; and a convolutional neural network configured to process the second neural network input to generate an output, the output including a plurality of feature vectors that each correspond to a different one a plurality of regions of the environment.
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