Processing perspective view range images using neural networks

A system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform:

• obtaining a perspective view range image generated from sensor measurements of an environment by one or more sensors, the perspective view range image comprising a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors;
• processing the perspective view range image using a first neural network to generate an output feature representation, wherein the first neural network comprises a first perspective point-set aggregation layer configured to:
• receive an input feature map, the input feature map comprising a respective feature vector for each of a first subset of the pixels;
• and
• generate an output feature map from the input feature map, wherein the output feature map comprises a respective output feature vector for each of the first subset of pixels, and wherein the generating comprises, for each particular pixel in the first subset, generating an initial output feature vector for the particular pixel by applying a geometry-dependent kernel to pixels within a local neighborhood of the particular pixel in the input feature map, wherein the geometry-dependent kernel depends on at least (i) respective input feature vectors for the pixels within the local neighborhood of the particular pixel in the input feature map and (ii) respective range features of the pixels within the local neighborhood of the input feature map;
• and
• processing the output feature representation using an output neural network to generate a network output for a neural network task.

One or more computer storage media storing instructions that when executed by one or more computers cause the one or more computers to perform:

• obtaining a perspective view range image generated from sensor measurements of an environment by one or more sensors, the perspective view range image comprising a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors;
• processing the perspective view range image using a first neural network to generate an output feature representation, wherein the first neural network comprises a first perspective point-set aggregation layer configured to:
• receive an input feature map, the input feature map comprising a respective feature vector for each of a first subset of the pixels;
• and
• generate an output feature map from the input feature map, wherein the output feature map comprises a respective output feature vector for each of the first subset of pixels, and wherein the generating comprises, for each particular pixel in the first subset, generating an initial output feature vector for the particular pixel by applying a geometry-dependent kernel to pixels within a local neighborhood of the particular pixel in the input feature map, wherein the geometry-dependent kernel depends on at least (i) respective input feature vectors for the pixels within the local neighborhood of the particular pixel in the input feature map and (ii) respective range features of the pixels within the local neighborhood of the input feature map;
• and
• processing the output feature representation using an output neural network to generate a network output for a neural network task.