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公开(公告)号：US10593042B1
公开(公告)日：2020-03-17
申请号：US15484401
申请日：2017-04-11
Applicant: Zoox, Inc.
Inventor： Bertrand Robert Douillard , Subhasis Das , Zeng Wang , Dragomir Dimitrov Anguelov
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.
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Patent Agency Ranking
公开(公告)号：US20200026292A1
公开(公告)日：2020-01-23
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
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.
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公开(公告)号：US10509947B1
公开(公告)日：2019-12-17
申请号：US15484365
申请日：2017-04-11
Applicant: Zoox, Inc.
Inventor： Bertrand Robert Douillard , Subhasis Das , Zeng Wang , Dragomir Dimitrov Anguelov
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.
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公开(公告)号：US10444759B2
公开(公告)日：2019-10-15
申请号：US15622905
申请日：2017-06-14
Applicant: Zoox, Inc.
Inventor： Bertrand Robert Douillard , Subhasis Das , Zeng Wang , Dragomir Dimitrov Anguelov , Jesse Sol Levinson
IPC: G05D1/02 , G01S17/89 , G01S17/93 , G06K9/00 , G06T7/11 , G01S17/02 , G01S17/58 , G01S17/66 , G06T7/187 , G01S15/93 , G01S15/02 , G01S13/72 , G01S13/86 , G01S13/93
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.
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公开(公告)号：US20190258737A1
公开(公告)日：2019-08-22
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：US20180364717A1
公开(公告)日：2018-12-20
申请号：US15622905
申请日：2017-06-14
Applicant: Zoox, Inc.
Inventor： Bertrand Robert Douillard , Subhasis Das , Zeng Wang , Dragomir Dimitrov Anguelov , Jesse Sol Levinson
CPC classification number: G05D1/024 , G01S13/726 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S17/023 , G01S17/58 , G01S17/66 , G01S17/89 , G01S17/936 , G05D1/0212 , G06K9/00791 , G06T7/11 , G06T7/187 , 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.
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