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公开(公告)号：US10723281B1
公开(公告)日：2020-07-28
申请号：US16361035
申请日：2019-03-21
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs
Abstract: In one embodiment, a method includes detecting multiple reference markers on a vehicle and multiple reference markers on a sensor array attached to the vehicle. The method includes determining a pose of the vehicle and a pose of the sensor array based on the detected reference markers on the vehicle and sensor array and a model of the vehicle and sensor array that includes expected locations of the detected reference markers on the vehicle and sensor array. The method includes computing an observed relative orientation between the sensor array and the vehicle based on a comparison of the determined pose of the sensor array and vehicle. The method includes determining a calibration factor for a sensor of the sensor array based on a comparison of the observed relative orientation between the sensor array and the vehicle to an expected relative orientation between the sensor array and the vehicle.
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12.发明授权公开(公告)号：US10708557B1
公开(公告)日：2020-07-07
申请号：US16221414
申请日：2018-12-14
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , Romain Clément , Yi Zhou
IPC: H04N9/04 , G02B5/20 , H04N5/232 , G06T7/70 , H04N13/25 , H04N13/257 , H04N13/239 , G06N20/20 , H04N13/00 , G06K9/00
Abstract: In one embodiment, a method includes accessing first image data generated by a first image sensor having a first filter array that has a first filter pattern. The first filter pattern includes a first filter type corresponding to a spectrum of interest and a second filter type. The method also includes accessing second image data generated by a second image sensor having a second filter array that has a second filter pattern different from the first filter pattern. The second filter pattern includes a number of second filter types, the number of second filter types and the number of first filter types have at least one filter type in common. The method also includes determining a correspondence between one or more first pixels of the first image data and one or more second pixels of the second image data.
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公开(公告)号：US20190204427A1
公开(公告)日：2019-07-04
申请号：US15857372
申请日：2017-12-28
Applicant: Lyft, Inc.
CPC classification number: G01S7/4972 , G01S17/936
Abstract: In one embodiment, a facility for calibrating sensors of an autonomous vehicle (AV) includes a camera calibration target configured to be measured by and used for calibrating an optical camera of the AV; a light detection and ranging (LiDAR) calibration target configured to be measured by and used for calibrating a LiDAR transceiver of the AV; and a platform configured to allow the AV to drive onto and park on the platform. The camera calibration target and the LiDAR calibration target are positioned to be detectable by the optical camera and the LiDAR transceiver while the AV is parked on the platform. The platform is further configured to modify a lateral position, height, or orientation of the optical camera and the LiDAR transceiver relative to the camera calibration target and the LiDAR calibration target while the AV is parked on the platform.
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公开(公告)号：US11415683B2
公开(公告)日：2022-08-16
申请号：US15857518
申请日：2017-12-28
Applicant: Lyft, Inc.
IPC: G01S7/497 , G01S7/40 , G01S13/931 , G05D1/00 , G05D1/02 , G01S17/931
Abstract: In one embodiment, a method includes receiving sensor data from one or more sensors of an autonomous vehicle (AV); determining that a first sensor of the one or more sensors needs recalibration based on the sensor data. The first sensor being of a first sensor type. The method also includes sending a request to a remote management system indicating that one or more of the sensors of the AV need recalibration and a location of the AV; determining the presence of a service vehicle having a calibration target configured to calibrate sensors of the first sensor type; and initiating a calibration routine using the calibration target.
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公开(公告)号：US11105905B2
公开(公告)日：2021-08-31
申请号：US16206966
申请日：2018-11-30
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , Lei Zhang
Abstract: A method includes capturing, by a plurality of image sensors on an automotive vehicle, image data associated with one or more calibration objects in an environment, and capturing, by a LiDAR sensor, a three-dimensional LiDAR point cloud based on LiDAR data. The method further comprises generating a three-dimensional image point cloud based on the image data and the three-dimensional LiDAR point cloud, mapping a first alignment plane of the three-dimensional image point cloud relative to a second alignment plane of the three-dimensional LiDAR point cloud for each of the calibration objects to determine an angle between the first alignment plane and second alignment plane, and calibrating the LiDAR sensor relative to the image sensors by determining a degree of rotation of the LiDAR sensor to minimize the angle between the first alignment plane and second alignment plane.
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Patent Agency Ranking
公开(公告)号：US10659751B1
公开(公告)日：2020-05-19
申请号：US16221406
申请日：2018-12-14
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , Romain Clément , Yi Zhou
IPC: H04N5/341 , G06T7/55 , G02B27/28 , H04N13/271 , H04N13/111 , G06K9/66 , G06N20/20 , G06T5/20 , G02B5/30 , H04N13/00
Abstract: In one embodiment, a method includes accessing first image data generated by a first image sensor having a first filter array that has a first filter pattern. The first filter pattern includes a number of first filter types. The method also includes accessing second image data generated by a second image sensor having a second filter array that has a second filter pattern different from the first filter pattern. The second filter pattern includes a number of second filter types, the number of second filter types and the number of first filter types have at least one filter type in common. The method also includes determining a correspondence between one or more first pixels of the first image data and one or more second pixels of the second image data based on a portion of the first image data associated with the filter type in common.
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公开(公告)号：US11878632B2
公开(公告)日：2024-01-23
申请号：US16940073
申请日：2020-07-27
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs
CPC classification number: B60R11/04 , G01C21/20 , G01S7/497 , G05D1/0234 , G06T2207/30244
Abstract: In one embodiment, a method includes, receiving a first set of positional parameters for movement of a vehicle through an environment captured by a first sensor associated with the vehicle. The method includes receiving a second set of positional parameters for movement of the vehicle through the environment captured by a second sensor associated with the vehicle. The method includes calculating an angular offset between the first set of positional parameters and the second set of positional parameters based on comparing the first set of positional parameters to the second set of positional parameters. The method includes determining a calibration factor based on the calculated angular offset. The method includes calibrating at least one of the first sensor or the second sensor by using the calibration factor.
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公开(公告)号：US20210274064A1
公开(公告)日：2021-09-02
申请号：US17199271
申请日：2021-03-11
Applicant: Lyft, Inc.
Inventor： Corey Frederick Bangs , Forrest Samuel Briggs , George James Hansel , James Allen-White Hoffacker , Dhruv Lamba , Chi Hoon Lee , Yi Lu , Brian Thomas McGinn , Phillip Sawbridge
Abstract: In one embodiment, a method includes, by a computing device of a first sensor receiving synchronization information from a controller. The synchronization information being generated based on a clock of the controller. The method also includes determining, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; storing the first offset; and synchronizing, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor. The first data capture and the second data capture being requested by the controller.
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公开(公告)号：US10972637B2
公开(公告)日：2021-04-06
申请号：US16298503
申请日：2019-03-11
Applicant: Lyft, Inc.
Inventor： Corey Frederick Bangs , Forrest Samuel Briggs , George James Hansel , James Allen-White Hoffacker , Dhruv Lamba , Chi Hoon Lee , Yi Lu , Brian Thomas McGinn , Phillip Sawbridge
Abstract: In one embodiment, a method includes, by a computing device of a first sensor receiving synchronization information from a controller. The synchronization information being generated based on a clock of the controller. The method also includes determining, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; storing the first offset; and synchronizing, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor. The first data capture and the second data capture being requested by the controller.
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公开(公告)号：US20210092349A1
公开(公告)日：2021-03-25
申请号：US17063254
申请日：2020-10-05
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , James Allen-White Hoffacker , Dhruv Lamba , Phillip Sawbridge
IPC: H04N13/296 , H04N5/235 , G06K9/00 , G06T7/593 , H04N13/243 , G05D1/02 , H04N13/239
Abstract: In particular embodiments, a computing system may detect a number of objects captured within on overlapping region between a first field of view associated with a first camera and a second field of view associated with a second camera. The system may determine a respective priority ranking for each of the objects. The system may select an object from the objects based on the respective priority ranking for the object. The system may determine, for the first camera, a first lighting condition associated with the first field of view. The system may determine, for the second camera, a second lighting condition associated with the second field of view. The system may determine a shared exposure time for the selected object based on the first lighting condition and the second lighting condition. The system may cause at least one image of the selected object to be captured using the shared exposure time.
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