公开(公告)号：US20240430384A1

公开(公告)日：2024-12-26

申请号：US18830115

申请日：2024-09-10

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  B60W30/095 ,  B60W60/00 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G06V10/44 ,  G06V10/88 ,  G06V20/56 ,  G08G1/01 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US11671564B2

公开(公告)日：2023-06-06

申请号：US17126231

申请日：2020-12-18

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  G01S17/931 ,  G01S7/497 ,  B60W30/095 ,  G08G1/04 ,  G08G1/01 ,  B60W60/00 ,  G01S17/86 ,  G01S7/483 ,  G01S17/89 ,  G01W1/06 ,  G05D1/00 ,  G08G1/048 ,  G06V10/44 ,  G06V20/56 ,  H04N23/69 ,  G06V10/88 ,  G05D1/02

CPC classification number: H04N7/18 ,  B60W30/0956 ,  B60W60/001 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/0088 ,  G06V10/44 ,  G06V10/89 ,  G06V20/56 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2556/45 ,  G05D1/0251 ,  G05D1/0257 ,  G05D2201/0213

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US20220276384A1

公开(公告)日：2022-09-01

申请号：US17739064

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alexander McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S17/89 ,  G06T7/521 ,  G01S7/497 ,  G01S7/481 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.

公开(公告)号：US20210195112A1

公开(公告)日：2021-06-24

申请号：US17126231

申请日：2020-12-18

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N5/232 ,  G01S17/86 ,  G01S17/931 ,  G01S7/497 ,  H04N7/18 ,  G06K9/00 ,  G06K9/46 ,  B60W30/095 ,  G08G1/04 ,  G08G1/01 ,  B60W60/00

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US10578724B2

公开(公告)日：2020-03-03

申请号：US16380864

申请日：2019-04-10

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S17/42 ,  G01S7/497 ,  G01S17/89 ,  G01S17/02

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.

公开(公告)号：US20190235064A1

公开(公告)日：2019-08-01

申请号：US16380864

申请日：2019-04-10

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S7/497 ,  G01S17/02 ,  G01S17/42 ,  G01S17/89

CPC classification number: G01S7/4972 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.

公开(公告)号：US10094916B1

公开(公告)日：2018-10-09

申请号：US15618133

申请日：2017-06-09

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01C25/00 ,  G01S7/497 ,  G01S17/42 ,  G01S17/89

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.