公开(公告)号：US20230419678A1

公开(公告)日：2023-12-28

申请号：US17808244

申请日：2022-06-22

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yu-Han Chen ,  Zhibo Yang ,  Xia Chen

IPC: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

CPC classification number: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

Abstract: A method includes obtaining an image representing road objects belonging to a particular class, and generating, based on the image, feature maps that represent visual features of the image. The method also includes determining, based on the feature maps and for each respective road object of the plurality of road objects, a corresponding location at which the respective road object has been detected within the image and a corresponding tag value associated with the respective road object. The method additionally includes determining groups of the road objects based on the tag value of each respective road object, and identifying, for each respective group, a corresponding road condition based on the corresponding locations of the road objects in the respective group and the particular class. The method further includes generating an output that represents the corresponding road condition of each respective group.