US Patent 11003189 Trajectory representation in behavior prediction systems
Patent 11003189 was granted and assigned to Waymo on May, 2021 by the United States Patent and Trademark Office.
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Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a representation of a trajectory of a target agent in an environment. In one aspect, the representation of the trajectory of the target agent in the environment is a concatenation of a plurality of channels, where each channel is represented as a two-dimensional array of data values. Each position in each channel corresponds to a respective spatial position in the environment, and corresponding positions in different channels correspond to the same spatial position in the environment. The channels include a time channel and a respective motion channel corresponding to each motion parameter in a predetermined set of motion parameters.
US Patent 11003189 Trajectory representation in behavior prediction systems
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