	US 12,462,532 B2
	Enriching later-in-time feature maps using earlier-in-time feature maps
Balaji Sundareshan, Boston, MA (US); Akankshya Kar, Santa Monica, CA (US); and Varun Kumar Reddy Bankiti, Bellevue, WA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Sep. 2, 2022, as Appl. No. 17/929,405.
Prior Publication US 2024/0078790 A1, Mar. 7, 2024
Int. Cl. G06V 10/00 (2022.01); G01C 21/00 (2006.01); G06V 10/74 (2022.01); G06V 10/77 (2022.01); G06V 20/58 (2022.01); B60W 60/00 (2020.01)

CPC G06V 10/7715 (2022.01) [G01C 21/3822 (2020.08); G06V 10/761 (2022.01); G06V 20/58 (2022.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); G06V 2201/08 (2022.01)]

17 Claims

1. A method, comprising:

receiving a first image at a first time;

generating a first feature map based on the first image;

obtaining a second feature map, the second feature map corresponding to a second image received at a second time, wherein the second time is before the first time;

enriching the first feature map with the second feature map to form a first enriched feature map;

generating a third feature map based on the first enriched feature map;

enriching the third feature map with a fourth feature map to form a second enriched feature map, the fourth feature map based on the second feature map; and

determining a characteristic of an object in the first image based on the second enriched feature map.