Zoox, Inc.

Xinyu Xu

Subhasis Das

Xin Wang

Philippe Martin Burlina

Ruijie He

Techniques for determining a presence of an object, especially an object such as animal or debris, in a path of a vehicle, are discussed herein. For example, sensors of various modalities, which may include multispectral sensors, may capture data representing an environment the vehicle is traversing. In examples, one or more trained machine learned (ML) models, operating on a vehicle computing system, may detect and/or classify objects in the environment, based on input data of one or more modalities or spectral bands. The ML models may be pre-trained using training data including real sensor data, synthetic data, and/or augmented data, along with auto-generated annotations. In some examples, hyperspectral data may be used to identify materials associated with detected objects. A confidence score associated with the detection of the object may also be computed. The vehicle may be controlled based on detection of the object and its classification.

Object detection using multispectral data

Disclosed are techniques for combining data using transformer-based machine learning models. In some examples, a first transformer is used to combine a first dataset with a second dataset. The results are then combined with a third dataset, using a second transformer. Each dataset can represent data from a different sensor modality. The transformers compute scores based on queries and apply the scores to values. The first dataset can be used to generate queries for the first transformer, and the values for the first transformer can be derived from the second dataset. Similarly, the third dataset can be used to generate queries for the second transformer, and the values for the second transformer can be derived from the output of the first transformer. The output of the second transformer is therefore a combination of all three datasets and can be used for object detection, for example, determining three-dimensional boundaries of objects.

Object detection using transformer based fusion of multi-modality sensor data

Techniques for performing computer vision operations for a vehicle using image data of an environment of the vehicle are described herein. In some cases, a vehicle (e.g., an autonomous vehicle) can determine a predicted position (including a predicted depth) and/or a predicted trajectory for an object in the vehicle environment based on data generated by projecting a map object described by the map data for a vehicle environment to image data of the vehicle environment.

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San Jose, CA, United States of America

Xinyu Xu