公开(公告)号：US12154347B2

公开(公告)日：2024-11-26

申请号：US17691103

申请日：2022-03-09

Applicant: Waymo LLC

Inventor： Ivan Bogun ,  Sung Min Park

IPC: G06V20/58 ,  G01S17/89 ,  G06T7/73 ,  G06V20/56

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting regions of an environment. One of the methods includes receiving a representation of a scene in an environment; processing the representation using a center prediction neural network to generate: (i) features of the scene in the environment, and (ii) a respective center score corresponding to each of a plurality of locations in the environment; selecting, based on the respective center scores, one or more of the plurality of locations; and for each selected location: processing an input comprising the features of the scene in the environment and data specifying the selected location using a geometry prediction neural network to generate a geometry prediction that represents a geometry of the region that is centered at the selected location.

公开(公告)号：US20220292840A1

公开(公告)日：2022-09-15

申请号：US17691103

申请日：2022-03-09

Applicant: Waymo LLC

Inventor： Ivan Bogun ,  Sung Min Park

IPC: G06V20/58 ,  G06V20/56 ,  G06T7/73 ,  G01S17/89

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting regions of an environment. One of the methods includes receiving a representation of a scene in an environment; processing the representation using a center prediction neural network to generate: (i) features of the scene in the environment, and (ii) a respective center score corresponding to each of a plurality of locations in the environment; selecting, based on the respective center scores, one or more of the plurality of locations; and for each selected location: processing an input comprising the features of the scene in the environment and data specifying the selected location using a geometry prediction neural network to generate a geometry prediction that represents a geometry of the region that is centered at the selected location.