Patent ID: 11861481
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform respective operations comprising:
maintaining a collection of sensor samples and, for each sensor sample, one or more embeddings of the sensor sample, wherein:
each sensor sample in the collection is generated from sensor data captured by a corresponding vehicle and characterizes an environment region in a vicinity of the corresponding vehicle, and
each embedding has been generated by processing data from the corresponding sensor sample through an embedding neural network;

receiving a request specifying a query sensor sample, wherein the query sensor sample characterizes a query environment region which has been identified as depicting an object belonging to a particular class;
identifying, from the collection of sensor samples, a plurality of relevant sensor samples that characterize similar environment regions to the query environment region, comprising:
processing the query sensor sample through the embedding neural network to generate one or more query embeddings; and
identifying, from sensor samples in a subset of the sensor samples in the collection, a plurality of sensor samples that have embeddings that are closest to the query embedding;

generating a plurality of training examples using the relevant sensor samples, wherein each training example comprises a respective relevant sensor sample that has been identified to characterize a similar environment region to the query environment region; and
using training data comprising the plurality of training examples to train a machine learning model configured to predict whether an input sensor sample characterizes objects belonging to the particular class.