Waymo llc (20250121857). BEHAVIOR PREDICTION USING SCENE-CENTRIC REPRESENTATIONS
BEHAVIOR PREDICTION USING SCENE-CENTRIC REPRESENTATIONS
Organization Name
Inventor(s)
Bertrand Robert Douillard of San Francisco CA US
Aurick Qikun Zhou of San Francisco CA US
Rami Al-rfou of Menlo Park CA US
Kratarth Goel of Fremont CA US
Benjamin Sapp of Marina del Rey CA US
Andre Liang Cornman of San Francisco CA US
Cheolho Park of Palo Alto CA US
Lingyun Liu of Sunnyvale CA US
BEHAVIOR PREDICTION USING SCENE-CENTRIC REPRESENTATIONS
This abstract first appeared for US patent application 20250121857 titled 'BEHAVIOR PREDICTION USING SCENE-CENTRIC REPRESENTATIONS
Original Abstract Submitted
a method performed by one or more computers, the method comprising: obtaining scene context data characterizing a scene in an environment at a current time point, wherein the scene context data includes features of the scene in a scene-centric coordinate system; generating a scene-centric encoded representation of the scene in the environment by processing the scene context data using an encoder neural network; for each target agent: obtaining agent-specific features for the target agent, processing the agent-specific features for the target agent and the scene-centric encoded representation of the scene using a fusion neural network to generate a fused scene representation for the target agent, and processing the fused scene representation for the target agent using a decoder neural network to generate a trajectory prediction output for the target agent in an agent-centric coordinate system for the target agent.
- Waymo llc
- Bertrand Robert Douillard of San Francisco CA US
- Aurick Qikun Zhou of San Francisco CA US
- Rami Al-rfou of Menlo Park CA US
- Kratarth Goel of Fremont CA US
- Benjamin Sapp of Marina del Rey CA US
- Andre Liang Cornman of San Francisco CA US
- Cheolho Park of Palo Alto CA US
- Lingyun Liu of Sunnyvale CA US
- B60W60/00
- B60W50/00
- G06F30/15
- CPC B60W60/0027