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

Claim 16:
17. One or more non-transitory computer-readable media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
receiving an input characterizing an environment external to a 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.