公开(公告)号：US11302011B2

公开(公告)日：2022-04-12

申请号：US16802112

申请日：2020-02-26

Applicant: Zoox, Inc.

Inventor： Bertrand Robert Douillard ,  Subhasis Das ,  Zeng Wang ,  Dragomir Dimitrov Anguelov

IPC: G06T7/11 ,  G06K9/62 ,  G06T19/20 ,  G01S17/89 ,  G01S17/931 ,  G06V10/44

Abstract: Multi-dimensional data can be mapped to a projection shape and converted for image analysis. In some examples, the multi-dimensional data may include data captured by a LIDAR system for use in conjunction with a perception system for an autonomous vehicle. Converting operations can include converting three-dimensional LIDAR data to multi-channel two-dimensional data. Data points of the multi-dimensional data can be mapped to a projection shape, such as a sphere. Characteristics of the projection shape may include a shape, a field of view, a resolution, and a projection type. After data is mapped to the projection shape, the projection shape can be converted to a multi-channel, two-dimensional image. Image segmentation and classification may be performed on the two-dimensional data. Further, segmentation information may be used to segment the three-dimensional LIDAR data, while a rendering plane may be positioned relative to the segmented data to perform classification on a per-object basis.

公开(公告)号：US20220057201A1

公开(公告)日：2022-02-24

申请号：US17520496

申请日：2021-11-05

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G01B21/16 ,  G01S17/87 ,  G01C21/36 ,  G01C25/00 ,  G01S7/497 ,  G01S17/88 ,  G01S17/06 ,  G01C21/16

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

公开(公告)号：US11175132B2

公开(公告)日：2021-11-16

申请号：US15675487

申请日：2017-08-11

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G01B21/16 ,  G01S17/87 ,  G01C21/36 ,  G01C25/00 ,  G01S7/497 ,  G01S17/88 ,  G01S17/06 ,  G01C21/16 ,  G01S13/06 ,  G01S13/86 ,  G01S7/40

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score including an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

公开(公告)号：US10832502B2

公开(公告)日：2020-11-10

申请号：US15877899

申请日：2018-01-23

Applicant: Zoox, Inc.

Inventor： Jesse Sol Levinson ,  Gabriel Thurston Sibley ,  Bertrand Robert Douillard

IPC: G07C5/08 ,  G01C25/00 ,  G05D1/02 ,  G08G1/005 ,  G08G1/056 ,  G08G1/0968 ,  G08G1/00 ,  B60Q1/30 ,  G06Q10/08 ,  G06Q10/06 ,  B60Q1/50 ,  B60Q1/28 ,  G01S7/40 ,  G01S15/87 ,  G01S7/497 ,  G01S17/875 ,  G01S7/52 ,  G01S15/931 ,  G01S15/86 ,  G01S17/86 ,  G01S17/931 ,  B60Q1/26 ,  G05D1/00 ,  G01S13/86

Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.

公开(公告)号：US20180190046A1

公开(公告)日：2018-07-05

申请号：US15877899

申请日：2018-01-23

Applicant: Zoox, Inc.

Inventor： Jesse Sol Levinson ,  Gabriel Thurston Sibley ,  Bertrand Robert Douillard

IPC: G07C5/08 ,  G01C25/00 ,  G05D1/02 ,  G05D1/00 ,  B60Q1/26 ,  G08G1/00 ,  G08G1/005 ,  G08G1/056 ,  G08G1/0968

Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.

公开(公告)号：US09916703B2

公开(公告)日：2018-03-13

申请号：US14756996

申请日：2015-11-04

Applicant: Zoox, Inc.

Inventor： Jesse Sol Levinson ,  Bertrand Robert Douillard ,  Gabriel Thurston Sibley

IPC: G01C25/00 ,  G07C5/08 ,  B60Q1/26 ,  G05D1/00 ,  G05D1/02 ,  G08G1/00 ,  G08G1/005 ,  G08G1/056 ,  G08G1/0968

CPC classification number: G07C5/0808 ,  B60Q1/26 ,  B60Q1/28 ,  B60Q1/30 ,  B60Q1/50 ,  G01C25/00 ,  G05D1/0038 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/0268 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0291 ,  G06Q10/06 ,  G06Q10/08 ,  G07C5/0841 ,  G07C5/0866 ,  G08G1/005 ,  G08G1/056 ,  G08G1/096816 ,  G08G1/096838 ,  G08G1/096844 ,  G08G1/20 ,  G08G1/202 ,  G08G1/207

Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.

公开(公告)号：US12007228B2

公开(公告)日：2024-06-11

申请号：US17520496

申请日：2021-11-05

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G01B21/16 ,  G01C21/16 ,  G01C21/36 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/40 ,  G01S13/06 ,  G01S13/86

CPC classification number: G01B21/16 ,  G01C21/1652 ,  G01C21/1656 ,  G01C21/3602 ,  G01C25/00 ,  G01S7/4972 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/4026 ,  G01S13/06 ,  G01S13/86

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

公开(公告)号：US11714423B2

公开(公告)日：2023-08-01

申请号：US16584392

申请日：2019-09-26

Applicant: Zoox, Inc.

Inventor： Bertrand Robert Douillard ,  Subhasis Das ,  Zeng Wang ,  Dragomir Dimitrov Anguelov ,  Jesse Sol Levinson

IPC: G05D1/02 ,  G01S17/58 ,  G06T7/187 ,  G01S17/66 ,  G01S17/02 ,  G06T7/11 ,  G01S17/89 ,  G01S17/93 ,  G06K9/00 ,  G01S17/86 ,  G01S17/931 ,  G06V20/56 ,  G01S13/86 ,  G01S15/931 ,  G01S13/931 ,  G01S13/72 ,  G01S15/86

CPC classification number: G05D1/024 ,  G01S17/58 ,  G01S17/66 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0212 ,  G06T7/11 ,  G06T7/187 ,  G06V20/56 ,  G01S13/726 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/86 ,  G01S15/931 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.

公开(公告)号：US11022974B2

公开(公告)日：2021-06-01

申请号：US15629333

申请日：2017-06-21

Applicant: Zoox, Inc.

Inventor： Jesse Sol Levinson ,  Timothy David Kentley-Klay ,  Bertrand Robert Douillard

IPC: G07C5/00 ,  G05D1/02 ,  G05D1/00 ,  G07C5/08 ,  G01S13/86 ,  G01S7/497 ,  G01S17/42 ,  B60W50/02 ,  G01S13/06 ,  G01S17/86

Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.

公开(公告)号：US10983199B2

公开(公告)日：2021-04-20

申请号：US15674853

申请日：2017-08-11

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G05D1/02 ,  G01S17/42 ,  G01S17/89 ,  G01S7/497 ,  G01C15/00 ,  G01S17/87 ,  G01S17/931

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.