Patent ID: 11967103
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 19:
20. The system of claim 19, wherein the operations further comprise:
generating, for the point cloud and based on the plurality of ground truth keypoint locations in the image, a second pseudo label that specifies a pseudo classification for each of the plurality of data points in the point cloud, wherein the pseudo classification specifies whether a corresponding data point should be classified as a keypoint or not; and
training the first sub network and a data point classification neural network by using the pseudo classifications as target data point classification network outputs, the data point classification neural network having a plurality of data point classification network parameters and configured receive the intermediate representation generated by the first sub network of the pose estimation neural network and to process the intermediate representation to generate a data point classification network output that specifies a predicted classification for each of the plurality of data points in the point cloud.