| CPC G01S 17/931 (2020.01) [G06N 20/00 (2019.01); G06V 20/58 (2022.01)] | 20 Claims |
|
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 associated with an environment;
receiving a non-impeding detection for an object associated with the sensor data from a machine-learned model;
determining a set of the sensor data associated with the object;
determining one or more voxels associated with the environment;
determining one or more individual sensor data points of the set of the sensor data associated with individual voxels of the one or more voxels;
determining one or more lidar intensity measurements associated with the one or more individual sensor data points;
determining, based at least in part on the one or more lidar intensity measurements, one or more aggregate lidar intensity measurements for the individual voxels of the one or more voxels by averaging individual lidar intensity measurements associated with the one or more individual sensor data points to generate averaged lidar intensity measurements;
executing a natural logarithmic function using the averaged lidar intensity measurements as input to generate, as output, a probability that the object is a non-impeding object; and
controlling a vehicle based at least in part on a signal comprising an indication of the object and the probability that the object is the non-impeding object.
|