Patent ID: 11868439
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 7:
8. A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to:
acquire training data that includes real data and virtual data for training a multi-task network that performs at least depth prediction and semantic segmentation, the virtual data including synthetic images;
generate a first output from the multi-task network using the real data and second output from the multi-task network using the virtual data over separate executions of the multi-task network;
generate a mixed loss by analyzing the first output to produce a real loss that includes at least a self-supervised loss and the second output to produce a virtual loss that includes a supervised loss comprised of a semantic loss, a depth loss, a surface normal loss, and a synthesis loss; and
update the multi-task network using the mixed loss.