公开(公告)号：US20240062386A1

公开(公告)日：2024-02-22

申请号：US18235292

申请日：2023-08-17

Applicant: Waymo LLC

Inventor： Ruizhongtai Qi ,  Yurong You ,  Yingwei Li ,  Chenxi Liu ,  Yin Zhou

IPC: G06T7/246 ,  G06T7/215

CPC classification number: G06T7/246 ,  G06T7/215 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing sensor data, e.g., laser sensor data, using neural networks. One of the methods includes obtaining a temporal sequence of multiple three-dimensional point clouds generated from sensor readings of an environment collected by one or more sensors within a given time period, each three-dimensional point cloud comprising a respective plurality of points in a first coordinate system; processing, using a feature extraction neural network, an input that comprises data derived from the temporal sequence of multiple three-dimensional point clouds to generate a feature embedding; receiving a query that specifies one time point within the given time period; and generating, from the feature embedding and conditioned on the query, one or more outputs that characterize one or more objects in the environment at the time point specified in the received query.