Patent ID: 11922569
Assignee: WAYMO LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 5:
6. The method of claim 2, further comprising:
generating a second final scene point cloud that characterizes the transformed scene at a later time than the final scene point cloud, comprising:
obtaining, for each of the one or more objects, data characterizing a velocity and heading of the object;
obtaining a second initial scene point cloud characterizing a second initial scene in the environment;
determining, for each of the one or more objects and from the desired location of the object and the velocity and heading of the object, data characterizing a second desired location of the object in the second initial scene; and
generating, from the second initial scene point cloud and the second desired location for each of the one or more objects and using the first neural network, the second final scene point cloud; and

including the second final scene point cloud as a training input point cloud in the training data set.