CPC G06T 7/248 (2017.01) [B60W 60/001 (2020.02); G06T 3/18 (2024.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/404 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/30261 (2013.01)] | 20 Claims |
1. A method comprising:
obtaining, by a processing device, input data derived from a set of sensors associated with an autonomous vehicle (AV), wherein the input data comprises camera data and radar data comprising a plurality of frames each associated with a timestep;
extracting, by the processing device from the input data, a plurality of sets of bird's-eye view (BEV) features, wherein each set of BEV features corresponds to a respective timestep associated with a respective frame;
generating, by the processing device from the plurality of sets of BEV features, an object flow for at least one object, wherein generating the object flow comprises performing at least one of:
multi-frame temporal aggregation of sets of BEV features to aggregate at least a first set of BEV features corresponding to a current timestep associated with a first frame and a second set of BEV features corresponding to a prior timestep associated with a second frame, or
multi-frame dense motion estimation for identification of at least one object of an unknown class; and
causing, by the processing device, a driving path of the AV to be modified in view of the object flow.
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