Waymo LLC

Zhaoyin Jia

Yun Jiang

Ury Zhilinsky

Yimeng Zhang

Congcong Li

Disclosed herein are neural networks for generating target classifications for an object from a set of input sequences. Each input sequence includes a respective input at each of multiple time steps, and each input sequence corresponds to a different sensing subsystem of multiple sensing subsystems. For each time step in the multiple time steps and for each input sequence in the set of input sequences, a respective feature representation is generated for the input sequence by processing the respective input from the input sequence at the time step using a respective encoder recurrent neural network (RNN) subsystem for the sensing subsystem that corresponds to the input sequence. For each time step in at least a subset of the multiple time steps, the respective feature representations are processed using a classification neural network subsystem to select a respective target classification for the object at the time step.

Recurrent neural network classifier

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating object detection predictions from a neural network. In some implementations, an input characterizing a first region of an environment is obtained. The input includes a projected laser image generated from a three-dimensional laser sensor reading of the first region, a camera image patch generated from a camera image of the first region, and a feature vector of features characterizing the first region. The input is processed using a high precision object detection neural network to generate a respective object score for each object category in a first set of one or more object categories. Each object score represents a respective likelihood that an object belonging to the object category is located in the first region of the environment.

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Sunnyvale, CA, United States of America

Zhaoyin Jia