Gm Cruise Holdings LLC

Hongge Chen

Yuning Chai

Zhao Chen

The present disclosure provides solutions for generating synthetic three-dimensional (3D) objects for testing autonomous vehicle (AV) object detectors, such as AV Light Detection and Ranging (LiDAR) detectors. A process of the disclosed technology can include steps for receiving a first set of object shape data corresponding to a baseline object, permuting the first set of object shape data to generate a second set of object shape data, and providing the second set of object shape data to a differentiable pipeline to generate an output scene, wherein the output scene contains an optimized object that is based on the second set of object shape data. The process can further include steps for determining, using a detector, if the optimized object can be identified in the output scene. Systems and machine-readable media are also provided.

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Mountain View, CA, United States of America

Hongge Chen