Classifying objects using out-of-zone contexts

摘要

Some aspects of the subject matter disclosed herein include a system implemented on one or more data processing devices. The system obtains sensor data describing the environment of the vehicle from one or more sensor subsystems, and uses the sensor data to (i) one or more first neural network inputs representing sensor measurements for a particular entity in the environment, and (ii) ) an interface configured to generate a second neural network input representing sensor measurements for at least a portion of the environment surrounding the particular entity and additional portions of the environment not represented by the one or more first neural network inputs; and a convolutional neural network configured to process the second neural network input to produce an output, the output comprising a plurality of feature vectors each corresponding to a different one of the plurality of regions of the environment.