Ashok Elluswamy (head of FSD/autopilot) keynote at CVPR'22 WAD on FSD
Well worth watching.
Introduction
Classical -> Dense Depth -> Occupancy Networks for finding drivable space
Occupancy networks have some nice properties,
Occupancy network Architecture.
Static/moving objects, False Pedestrians - dummies, etc. -> every object is a moving object if enough force is applied!
Predict 4D occupancy flow - persistent.
Reasoning about occulsion.
Occupancy networks <-> Neural Radiance Fields (NeRF)
Full NeRF too computationally intensive to run in car, run cut down version for sanity checking.
Autopilot saving from crashes due to missaplication of accelerator.
Working on comprehensive crash avoidance. Search space large, take minutes to do full search, cut down version in car.
Come and join us.