Patent ID: 11928866
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC G

Claim 8:
9. A vehicle system comprising:
a sensor subsystem comprising one or more sensors configured to capture sensor data of an environment external to a vehicle; and
an on-board subsystem comprising one or computers configured to perform operations comprising:
receiving, from the sensor subsystem, an input characterizing the environment external to the vehicle, wherein the input comprises sensor data captured by the one or more sensors;
determining, from the input and for each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location, comprising processing the input using a neural network to generate a network output, wherein the network output defines an output map comprising a respective first object score for each of a plurality of spatial locations in a multi-dimensional grid, wherein each spatial location in the multi-dimensional grid corresponds to a respective one of a plurality of locations in the environment; and
determining, using the respective first object scores for the plurality of locations in the environment and for each of one or more locations from the plurality of locations, object properties of a respective object that is likely centered at the selected location.