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公开(公告)号：US11379684B2
公开(公告)日：2022-07-05
申请号：US17180446
申请日：2021-02-19
Applicant: Zoox, Inc.
Inventor： David Pfeiffer , James William Vaisey Philbin , Nitesh Shroff , Zeng Wang
Abstract: Techniques are discussed for segmenting sensor data captured by a sensor to remove a ground surface from the sensor data. A first technique includes capturing sensor data represented as multichannel image and segmenting the image according to image processing techniques. The ground surface can be removed from the sensor data, and a subset of the sensor data can be associated with a voxel space. A second technique includes capturing sensor data and unprojecting the sensor data to generate three dimensional data, which can be associated with a voxel space. Ground plane data associated with a location can be accessed or determined and voxel data that is within a threshold height of the ground plane data can be removed from the voxel space. Clustering techniques can determine objects represented in the data, and a vehicle can be controlled based on the objects.
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公开(公告)号：US11227401B1
公开(公告)日：2022-01-18
申请号：US16420090
申请日：2019-05-22
Applicant: Zoox, Inc.
Inventor： Robert Evan Mahieu , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A multiresolution voxel space is discussed herein. Data can be represented in individual levels in the multiresolution voxel space. A first level can correspond to a first region of an environment and a second level can correspond to a second region of an environment, the second region corresponding to a subset of the first region. In some examples, the levels can comprise a same number of voxels, such that the first level covers a large, low resolution region, while the second level covers a smaller, higher resolution region, though more levels are contemplated. Data represented in the voxel spaces can be processed at higher resolution where available and at a lower resolution where a data density is lower and combined in an intelligent manner. Voxel spaces can be updated based on movement of the sensor providing the data.
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公开(公告)号：US12030522B2
公开(公告)日：2024-07-09
申请号：US17138710
申请日：2020-12-30
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Subhasis Das , Dhanushka Nirmevan Kularatne , Mark Jonathon McClelland , Troy Donovan O′Neal , Zeng Wang
CPC classification number: B60W60/0011 , B60W60/00274 , G01S17/931 , G06T7/74 , G06T15/06 , G06V10/44 , G06V20/58 , B60W2420/408 , B60W2554/80 , G06T2207/10028 , G06T2207/30261 , G06T2210/12
Abstract: Techniques for collision avoidance using an object contour are discussed. A trajectory associated with a vehicle may be received. Sensor data can be received from a sensor associated with the vehicle. A bounding contour may be determined and associated with an object represented in the sensor data. Based on the trajectory, a simulated position of the vehicle can be determined. Additionally, a predicted position of the bounding contour can be determined. Based on the simulated position of the vehicle and the predicted position of the bounding contour, a distance between the vehicle and the object may be determined. An action can be performed based on the distance between the vehicle and the object.
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公开(公告)号：US20230206650A1
公开(公告)日：2023-06-29
申请号：US18091136
申请日：2022-12-29
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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公开(公告)号：US20230004744A1
公开(公告)日：2023-01-05
申请号：US17364078
申请日：2021-06-30
Applicant: Zoox, Inc.
Inventor： David Pfeiffer , Zeng Wang , Qiang Zhai
Abstract: Techniques for identifying curbs are discussed herein. For instance, a vehicle may generate sensor data using one or more sensors, where the sensor data represents points associated with a driving surface and a sidewalk. The vehicle may then quantize the points into distance bins that are located laterally along the driving direction of the vehicle in order to generate spatial lines. Next, the vehicle may determine separation points for the spatial lines, where the separation points are configured to separate the points associated with the driving surface from the points associated with the sidewalk. The vehicle may then generate, using the separation points, a curve that represents the curb between the driving surface and the sidewalk. This way, the vehicle may use the curve while navigating, such as to avoid the curb and/or stop at a location that is proximate to the curb.
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Patent Agency Ranking
公开(公告)号：US11544936B2
公开(公告)日：2023-01-03
申请号：US16722931
申请日：2019-12-20
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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公开(公告)号：US20220111868A1
公开(公告)日：2022-04-14
申请号：US17068425
申请日：2020-10-12
Applicant: Zoox, Inc.
Inventor： Arthur Daniel Costea , Robert Evan Mahieu , David Pfeiffer , Zeng Wang
Abstract: Techniques for estimating ground height based on lidar data are discussed herein. A vehicle captures lidar data as it traverses an environment. The lidar data can be associated with a voxel space as three-dimensional data. Semantic information can be determined and associated with the lidar data and/or the three-dimensional voxel space. A multi-channel input image can be determined based on the three-dimensional voxel space and input into a machine learned (ML) model. The ML model can output data to determine height data and/or classification data associated with a ground surface of the environment. The height data and/or classification data can be utilized to determine a mesh associated with the ground surface. The mesh can be used to control the vehicle and/or determine additional objects proximate the vehicle.
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公开(公告)号：US11157527B2
公开(公告)日：2021-10-26
申请号：US15900319
申请日：2018-02-20
Applicant: Zoox, Inc.
Inventor： Zeng Wang , Nitesh Shroff , Dragomir Dimitrov Anguelov , Subhasis Das , Jesse Sol Levinson , Brice Rebsamen
Abstract: A system may receive a sensor dataset representing an environment and use the dataset to create or update a map. In creating or updating the map, the system may determine an object classification of one or more detected objects and only selectively incorporate data into the map based at least in part on the classification. The map may be associated with the classification (or semantic) information of the objects, as well as weights based on the classification. Similarly, datasets with selected classes of data removed may be used for system localization. Further, the system may determine an object track of the objects. When updating the map, voxels in a voxel space may indicate an occupied voxel based on a threshold number of observances. The object track and clean map can then be used for controlling an autonomous vehicle.
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公开(公告)号：US20210192273A1
公开(公告)日：2021-06-24
申请号：US17180446
申请日：2021-02-19
Applicant: Zoox, Inc.
Inventor： David Pfeiffer , James William Vaisey Philbin , Nitesh Shroff , Zeng Wang
Abstract: Techniques are discussed for segmenting sensor data captured by a sensor to remove a ground surface from the sensor data. A first technique includes capturing sensor data represented as multichannel image and segmenting the image according to image processing techniques. The ground surface can be removed from the sensor data, and a subset of the sensor data can be associated with a voxel space. A second technique includes capturing sensor data and unprojecting the sensor data to generate three dimensional data, which can be associated with a voxel space. Ground plane data associated with a location can be accessed or determined and voxel data that is within a threshold height of the ground plane data can be removed from the voxel space. Clustering techniques can determine objects represented in the data, and a vehicle can be controlled based on the objects.
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公开(公告)号：US10929711B1
公开(公告)日：2021-02-23
申请号：US16294772
申请日：2019-03-06
Applicant: Zoox, Inc.
Inventor： David Pfeiffer , James William Vaisey Philbin , Nitesh Shroff , Zeng Wang
Abstract: Techniques are discussed for segmenting sensor data captured by a sensor to remove a ground surface from the sensor data. A first technique includes capturing sensor data represented as multichannel image and segmenting the image according to image processing techniques. The ground surface can be removed from the sensor data, and a subset of the sensor data can be associated with a voxel space. A second technique includes capturing sensor data and unprojecting the sensor data to generate three dimensional data, which can be associated with a voxel space. Ground plane data associated with a location can be accessed or determined and voxel data that is within a threshold height of the ground plane data can be removed from the voxel space. Clustering techniques can determine objects represented in the data, and a vehicle can be controlled based on the objects.
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