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

Claim 4:
5. 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;
the lidar system being configured to implement the first neural network to define the ROI within the FOV that results in the dual density point cloud, and configured to implement a second neural network to output the detection result based on the dual density point cloud, the second neural network including an encoder and decoder stage configured to provide point-wise feature vectors such that each feature vector of the point-wise feature vectors is associated respectively with each point of the dual density point cloud;
the ROI being a region of fixed area with a center that is selected from a set of potential centers based on an output of the first neural network;
wherein the first neural network is a Deep Q-Network (DQN) that obtains the point-wise feature vectors from the encoder and decoder stage of the 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.