| CPC G06V 20/58 (2022.01) [B60W 60/001 (2020.02); G06N 20/00 (2019.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/751 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
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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 sensor data from a sensor associated with an autonomous vehicle in an environment;
determining, based at least in part on the sensor data, first multichannel data;
inputting the first multichannel data to a machine-learned model;
determining, by the machine-learned model, Gaussian confidence values for pixels associated with an object in the environment;
determining, based at least in part on the Gaussian confidence values, a plurality of proposed center pixels from the pixels associated with the object;
determining candidate detection boxes for individual pixels of plurality of proposed center pixels;
determining, based at least in part on non-maximum suppression, an output detection box based at least in part on the candidate detection boxes;
generating, based at least in part on a center pixel associated with the output detection box, second multichannel data representing the object;
tracking, as a tracked object, the object based at least in part on the second multichannel data; and
controlling the autonomous vehicle based at least in part on the tracked object.
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