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

Claim 10:
11. A system comprising one or more computers and one or more storage devices storing instructions that when executed by one or more computers cause the one or more computers to perform 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 one or more of 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 data to train a machine learning model configured to predict whether an input sensor sample characterizes objects belonging to the particular class.