System and method for training and utilizing an object-centric occupancy estimation model
AssigneeGM Global Technology Operations LLC
InventorsMichael Baltaxe, Dan Levi
Life of this patent
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Abstract
A method of updating parameters of an occupancy estimation model. The method includes receiving images that are two-dimensional. An occupancy estimation model is utilized to generate a voxel based on the images. An occupancy loss is determined by comparing the voxel to an occupancy ground truth corresponding to the voxel. An object loss is determined by comparing the voxel to an object ground truth. The object loss is combined with the occupancy loss to determine a total loss for the voxel. Parameters of the occupancy estimation model are updated to reduce the total loss determined.
Claims20
A method of updating parameters of an occupancy estimation model, the method comprising:
- receiving a plurality of images, wherein the plurality of images are two-dimensional;
- utilizing the occupancy estimation model to generate a voxel based on the plurality of images;
- determining an occupancy loss by comparing the voxel to an occupancy ground truth corresponding to the voxel;
- determining an object loss by comparing the voxel to an object ground truth;
- combining the object loss with the occupancy loss to determine a total loss for the voxel;
- and
- updating parameters of the occupancy estimation model to reduce the total loss determined.
A non-transitory computer-readable storage medium embodying programmed instructions which, when executed by a processor, are operable for performing a method comprising:
- receiving a plurality of images, wherein the plurality of images are two-dimensional;
- utilizing an occupancy estimation model to generate a voxel based on the plurality of images;
- determining an occupancy loss by comparing the voxel to an occupancy ground truth corresponding to the voxel;
- determining an object loss by comparing the voxel to an object ground truth;
- combining the object loss with the occupancy loss to determine a total loss for the voxel;
- and
- updating parameters of the occupancy estimation model to reduce the total loss determined.
A vehicle system comprising:
- at least one optical sensor and a controller in data communication with the at least one optical sensor, wherein the controller configured to:
- receive a plurality of images, wherein the plurality of images are two-dimensional optical images;
- perform an occupancy estimation on the plurality of images with an occupation estimation model to generate a voxel;
- perform a three-dimensional object detection on the plurality of images to identify at least one region associated with an object of interest;
- and
- vary a probability threshold for identifying an object in the voxel based on the three-dimensional object detection, wherein the probability threshold for identifying objects is reduced for a portion of the voxel that corresponds to the at least one region associated with the object of interest when compared to the probability threshold for identifying the objects outside of the at least one region associated with the object of interest.
Dependencies are inferred from the claim text.