US 11,814,084 B2
Track confidence model
Subhasis Das, Menlo Park, CA (US); Jifei Qian, Campbell, CA (US); and Liujiang Yan, San Mateo, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 17, 2021, as Appl. No. 17/553,938.
Prior Publication US 2023/0192145 A1, Jun. 22, 2023
Int. Cl. B60W 60/00 (2020.01); G06V 10/40 (2022.01); G06T 7/246 (2017.01); G06V 20/58 (2022.01); G01S 17/931 (2020.01); G01S 13/931 (2020.01); G01S 13/86 (2006.01)
CPC B60W 60/0027 (2020.02) [G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G01S 17/931 (2020.01); G06T 7/246 (2017.01); G06V 10/40 (2022.01); G06V 20/58 (2022.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving first feature data from a first detector trained to detect objects based on radar data;
receiving second feature data from a second detector trained to detect objects based on at least one of lidar data or camera data;
inputting the first feature data to a first model;
inputting the second feature data to a second model;
receiving, from the first model and based at least in part on the first feature data, a first confidence score;
receiving, from the second model and based at least in part on the second feature data, a second confidence score;
receiving a first intermediate output from the first model;
receiving a second intermediate output from the second model;
inputting the first intermediate output and the second intermediate output to a third model;
receiving, from the third model and based at least in part on the first intermediate output and the second intermediate output, a third confidence score;
determining that the third confidence score is below a threshold;
determining that the first confidence score is above the threshold; and
outputting, based at least in part on determining that the first confidence score is above the threshold and the third confidence score is below the threshold and based at least in part on the first intermediate output, a track representing an object in an environment.