Google Inc.

Waymo LLC

Brandon Chauloon Yang

Jiquan Ngiam

Zhifeng Chen

Jonathon Shlens

Vijay Vasudevan

Ouais Alsharif

Wei Han

Benjamin James Caine

Chen Wu

Junhua Mao

Christoph Sprunk

Zhengdong Zhang

Quoc V Le

Patrick An Phu Nguyen

Yin Zhou

Pei Sun

Yuning Chai

Gabriel Mintzer Bender

Xi Yi

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing inputs using neural networks that include one or more conditional convolutional layers. A conditional convolutional layer has a plurality of kernels and determines a respective input-dependent weight for each of the plurality of kernels and generates an input-dependent kernel by computing a weighted sum of the plurality of kernels in accordance with the respective input-dependent weights.

Convolutional neural networks with soft kernel selection

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for processing data generated by a sensing system that rotationally senses an environment. In one aspect, a method comprises partitioning a predetermined period of time into a plurality of sub-periods, wherein the predetermined period of time is a period of time for which data generated by the sensing system constitutes a complete rotational sensing of the environment; for each sub-period: receiving current data generated by the sensing system during the sub-period and characterizing a respective partial scene of the environment; processing the current data using an object detection neural network to generate a current object detection output that is specific to the respective partial scene of the environment.

Streaming object detection within sensor data

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data representing a sensor measurement of a scene captured by one or more sensors to generate an object detection output that identifies locations of one or more objects in the scene. When deployed within an on-board system of a vehicle, the object detection output that is generated can be used to make autonomous driving decisions for the vehicle with enhanced accuracy.

Object detection in point clouds

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Saratoga, CA, United States of America

Brandon Chauloon Yang