Patent ID: 11881028
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicle system comprising:
a lidar system configured to obtain an initial point cloud, to obtain a dual density point cloud based on a first neural network and based on the initial point cloud, wherein the dual density point cloud results from reducing point density of the initial point cloud outside a region of interest (ROI), and to process the dual density point cloud to obtain a detection result that indicates any objects in a field of view (FOV) of the lidar system;
wherein the first neural network is a Deep Q-Network (DQN) that obtains the point-wise feature vectors from an encoder and decoder stage of a second neural network, and wherein training the DQN includes comparing the detection result obtained with the dual density point cloud with a ground truth detection result to produce a number of true positives and comparing a second detection result obtained by reducing the point density of the initial point cloud throughout the FOV with the ground truth detection result to produce a second number of true positives; and
a controller configured to obtain the detection result from the lidar system and to control an operation of a vehicle based on the detection result.