Waymo LLC

Sung Min Park

Ivan Bogun

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detecting regions of an environment. One of the methods includes receiving a representation of a scene in an environment; processing the representation using a center prediction neural network to generate: (i) features of the scene in the environment, and (ii) a respective center score corresponding to each of a plurality of locations in the environment; selecting, based on the respective center scores, one or more of the plurality of locations; and for each selected location: processing an input comprising the features of the scene in the environment and data specifying the selected location using a geometry prediction neural network to generate a geometry prediction that represents a geometry of the region that is centered at the selected location.

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Cambridge, MA, United States of America

Sung Min Park