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公开(公告)号：US12246656B2
公开(公告)日：2025-03-11
申请号：US18405991
申请日：2024-01-05
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs
Abstract: In one embodiment, a method includes receiving sets of measurement parameters associated with a sensed object and respectively captured by sensors. The method includes determining a relative orientation between the sensors based on comparison of the received sets of measurement parameters. The method includes determining one or more calibration factors based on comparing the determined relative orientation between sensors to an expected relative orientation between the sensors. The method includes applying at least one of the determined calibration factors to one or more of the measurement parameters captured by the sensors.
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公开(公告)号：US20240140331A1
公开(公告)日：2024-05-02
申请号：US18405991
申请日：2024-01-05
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs
CPC classification number: B60R11/04 , G01C21/20 , G01S7/497 , G05D1/247 , G06T2207/30244
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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公开(公告)号：US20230068113A1
公开(公告)日：2023-03-02
申请号：US17898865
申请日：2022-08-30
Applicant: Lyft, Inc.
IPC: G01S7/497 , G01S17/86 , G01S17/931
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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4.发明申请公开(公告)号：US20200174107A1
公开(公告)日：2020-06-04
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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公开(公告)号：US11435456B2
公开(公告)日：2022-09-06
申请号：US15857372
申请日：2017-12-28
Applicant: Lyft, Inc.
IPC: G01S7/497 , G01S17/86 , G01S17/931
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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Patent Agency Ranking
公开(公告)号：US10798368B2
公开(公告)日：2020-10-06
申请号：US16298905
申请日：2019-03-11
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , James Allen-White Hoffacker , Dhruv Lamba , Phillip Sawbridge
IPC: H04N13/296 , H04N5/235 , G06K9/00 , G06T7/593 , H04N13/239 , H04N13/243 , G05D1/02
Abstract: In one embodiment, a computing system may determine a first target region within a first field of view of a first camera and a second target region within a second field of view of a second camera. The first field of view and the second field of view may be partially overlapping. The system may determine first lighting conditions of the first target region. The system may determine a first exposure time for at least the first camera and the second camera based at least in part on the determined first lighting conditions. The system may instruct the first camera and the second camera to take pictures using the determined first exposure time.
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公开(公告)号：US20190289282A1
公开(公告)日：2019-09-19
申请号：US16298905
申请日：2019-03-11
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , James Allen-White Hoffacker , Dhruv Lamba , Phillip Sawbridge
IPC: H04N13/296 , H04N5/235 , G06K9/00 , G06T7/593 , H04N13/239 , H04N13/243 , G05D1/02
Abstract: In one embodiment, a computing system may determine a first target region within a first field of view of a first camera and a second target region within a second field of view of a second camera. The first field of view and the second field of view may be partially overlapping. The system may determine first lighting conditions of the first target region. The system may determine a first exposure time for at least the first camera and the second camera based at least in part on the determined first lighting conditions. The system may instruct the first camera and the second camera to take pictures using the determined first exposure time.
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公开(公告)号：US20190287024A1
公开(公告)日：2019-09-19
申请号：US16298851
申请日：2019-03-11
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , James Allen-White Hoffacker , Dhruv Lamba , Yi Lu , Phillip Sawbridge
IPC: G06N20/20 , H04N19/105 , G05D1/00 , G06T5/00
Abstract: In one embodiment, a computing system may receive an uncompressed image from a camera. The computing system may generate a compressed image by performing a compression process on the uncompressed image, wherein a decompressed image may be generated as a byproduct during the compression process. The computing system may send the decompressed image to a machine-learning model that was trained using decompressed images. The computing system may generate, by the machine-learning model, an output based on the decompressed image. The computing system may provide operational instructions to a vehicle based on the output.
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公开(公告)号：US20190204425A1
公开(公告)日：2019-07-04
申请号：US15857518
申请日：2017-12-28
Applicant: Lyft, Inc.
CPC classification number: G01S7/497 , G01S7/40 , G01S13/931 , G01S17/936 , G05D1/0011 , G05D1/0225 , G05D2201/0213
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：US20200280707A1
公开(公告)日：2020-09-03
申请号：US16877295
申请日：2020-05-18
Applicant: Lyft, Inc.
Inventor： Forrest Samuel Briggs , Romain Clément , Yi Zhou
IPC: H04N13/111 , H04N5/341 , G06K9/66 , G06N20/20 , G06T7/55 , H04N13/271 , G06T5/20 , G02B5/30 , G02B27/28
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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