Patent ID: 11922569
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations for generating a training data set for training a machine learning model that is configured to process an input point cloud, the operations comprising:
obtaining an initial scene point cloud characterizing an initial scene in an environment;
obtaining, for each of one or more objects, data characterizing a desired location of the object in the initial scene;
generating, from the initial scene point cloud and the desired location for each of the one or more objects and using a first neural network, a final scene point cloud that characterizes a transformed scene that has each of the one or more objects added to the initial scene at the desired location for the object; and
including the final scene point cloud as a training input point cloud in the training data set.