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公开(公告)号：US20220118994A1
公开(公告)日：2022-04-21
申请号：US17075569
申请日：2020-10-20
Applicant: Lyft, Inc.
Inventor： David Tse-Zhou Lu , Christy Fernandez Cull , Luca Del Pero , Jonathan Mazur Dyer , Charles J Richey
Abstract: Embodiments provide a hardware-based mechanism to continuously calibrate a set of sensors on a vehicle while the vehicle is in motion or in use. Specifically, each sensor is mounted on a respective rigid mounting device placed on the vehicle. A secondary sensing device for calibration is also rigidly mounted on the mounting device such that the relative position between the secondary device and the camera sensor can remain unchanged. The secondary sensing devices can then be used to detect a relative distance and/or position of the same calibration target. The sensed data is then used to determine, via stereo triangulation, the relative positions of the two secondary sensing devices, which in turn indicates the relative positions of the sensors.
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公开(公告)号：US20210403001A1
公开(公告)日：2021-12-30
申请号：US16917680
申请日：2020-06-30
Applicant: Lyft, Inc.
Inventor： Luca Del Pero , Robert Kesten , Stepan Simsa , Michal Szabados
Abstract: Examples disclosed herein may involve a computing system that is operable to (i) identify a set of vehicle trajectories that are associated with a segment of a road network, (ii) identify a first cluster of sampling points between the identified set of vehicle trajectories and a first sampling position along the segment, wherein the first cluster has an associated geospatial position and is inferred to be associated with one given lane of the segment, (iii) identify a subset of vehicle trajectories in the identified set that are inferred to be associated with the given lane between the first sampling position and a second sampling position along the segment, (iv) identify a second cluster of sampling points between the identified subset of vehicle trajectories and the second sampling position, wherein the second cluster has an associated geospatial position, and (v) determine a geospatial geometry of the given lane.
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公开(公告)号：US20250111529A1
公开(公告)日：2025-04-03
申请号：US18826730
申请日：2024-09-06
Applicant: Lyft, Inc.
Abstract: Examples disclosed herein may involve a computing system that is operable to (i) generate first structure data from one or more first image data, wherein the first structure data comprises one or more visible features captured in the one or more first image data, (ii) generate further structure data from one or more further image data, wherein the further structure data comprises one or more visible features captured in the one or more further image data, (iii) determine pose constraints for the further structure data based on common visible features, (iv) determine a transformation of the further structure data relative to the first structure data using the determined pose constraints, and (v) generate combined structure data using the determined transformation to fuse the further structure data and the first structure data.
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公开(公告)号：US20250100568A1
公开(公告)日：2025-03-27
申请号：US18912344
申请日：2024-10-10
Applicant: Lyft, Inc.
Inventor： David Tse-Zhou Lu , Christy Fernandez Cull , Luca Del Pero , Jonathan Mazur Dyer , Charles J. Richey
Abstract: Embodiments provide a hardware-based mechanism to continuously calibrate a set of sensors on a vehicle while the vehicle is in motion or in use. Specifically, each sensor is mounted on a respective rigid mounting device placed on the vehicle. A secondary sensing device for calibration is also rigidly mounted on the mounting device such that the relative position between the secondary device and the camera sensor can remain unchanged. The secondary sensing devices can then be used to detect a relative distance and/or position of the same calibration target. The sensed data is then used to determine, via stereo triangulation, the relative positions of the two secondary sensing devices, which in turn indicates the relative positions of the sensors.
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公开(公告)号：US12243209B2
公开(公告)日：2025-03-04
申请号：US18598932
申请日：2024-03-07
Applicant: Lyft, Inc.
Inventor： Matej Hamas , Luca Del Pero , Yerzhan Utkelbayev
Abstract: The present invention relates to the curation of map data. More particularly, the present invention relates to a method for preparing map data to present to a data curator for substantially optimal quality assurance. Further, the present invention relates to a tool for a data curator to verify map data.
According to a first aspect, there is provided a method comprising: generating a plurality of interdependent map portions from a global map; determining, from the plurality of interdependent map portions, at least one interdependent map portion that requires validation; creating at least one group of interdependent map portions, the group of interdependent map portions comprising: the determined at least one interdependent map portion that requires validation; and at least one additional interdependent map portion; and outputting the at least one group of interdependent map portions for validation.-
Patent Agency Ranking
公开(公告)号：US20240346637A1
公开(公告)日：2024-10-17
申请号：US18598932
申请日：2024-03-07
Applicant: Lyft, Inc.
Inventor： Matej Hamas , Luca Del Pero , Yerzhan Utkelbayev
IPC: G06T7/00
CPC classification number: G06T7/0002 , G06T2207/30168
Abstract: The present invention relates to the curation of map data. More particularly, the present invention relates to a method for preparing map data to present to a data curator for substantially optimal quality assurance. Further, the present invention relates to a tool for a data curator to verify map data.
According to a first aspect, there is provided a method comprising: generating a plurality of interdependent map portions from a global map; determining, from the plurality of interdependent map portions, at least one interdependent map portion that requires validation; creating at least one group of interdependent map portions, the group of interdependent map portions comprising: the determined at least one interdependent map portion that requires validation; and at least one additional interdependent map portion; and outputting the at least one group of interdependent map portions for validation.-
公开(公告)号：US20210404814A1
公开(公告)日：2021-12-30
申请号：US16917738
申请日：2020-06-30
Applicant: Lyft, Inc.
Inventor： Wolfgang Hess , Luca Del Pero , Daniel Sievers , Holger Rapp
Abstract: Examples disclosed herein may involve a computing system that is operable to (i) receive first data of one or more geographical environments from a first type of localization sensor, (ii) receive second data of the one or more geographical environments from a second type of localization sensor, (iii) determine constraints from the first data and the second data, (iv) determine shared pose data associated with both of the first data and the second data using the constraints determined from both the first data and the second data by determining one or more sequences of common poses between respective poses generated from each of the first and second data, wherein the shared pose data provides a common coordinate frame for the first data and the second data, and (v) generate a map of the one or more geographical environments using the determined shared pose data.
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公开(公告)号：US12217456B2
公开(公告)日：2025-02-04
申请号：US18590815
申请日：2024-02-28
Applicant: Lyft, Inc.
Inventor： Long Chen , Benjamin Alex Haines , Luca Del Pero
IPC: G06T7/00 , G01C21/36 , G06F16/583 , G06T7/136 , G06T7/73 , G06T17/05 , G06V10/26 , G06V10/762 , G06V10/80 , G06V20/56 , H04N23/698 , G06V10/10
Abstract: The present invention provides a method of generating a robust global map using a plurality of limited field-of-view cameras to capture an environment.
Provided is a method for generating a three-dimensional map comprising: receiving a plurality of sequential image data wherein each of the plurality of sequential image data comprises a plurality of sequential images, further wherein the plurality of sequential images is obtained by a plurality of limited field-of-view image sensors; determining a pose of each of the plurality of sequential images of each of the plurality of sequential image data; determining one or more overlapping poses using the determined poses of the sequential image data; selecting at least one set of images from the plurality of sequential images wherein each set of images are determined to have overlapping poses; and constructing one or more map portions derived from each of the at least one set of images.-
公开(公告)号：US20240362808A1
公开(公告)日：2024-10-31
申请号：US18656173
申请日：2024-05-06
Applicant: Lyft, Inc.
Inventor： Luca Del Pero , Robert Kesten
CPC classification number: G06T7/579 , G06T7/73 , G06T17/05 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252
Abstract: Examples disclosed herein may involve a computing system that is operable to (i) receive image data and corresponding secondary sensor data, (ii) generate a reconstruction of a map from the image data, wherein the reconstruction comprises sequential pose information, (iii) determine constraints from the secondary sensor data, and (iv) validate the reconstruction of the map by applying the determined constraints from the secondary sensor data to the determined sequential pose information from the reconstruction of the map and determining whether the sequential pose information fails to satisfy any of the constraints determined from the secondary sensor data.
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公开(公告)号：US20240320856A1
公开(公告)日：2024-09-26
申请号：US18590815
申请日：2024-02-28
Applicant: Lyft, Inc.
Inventor： Long Chen , Benjamin Alex Haines , Luca Del Pero
IPC: G06T7/73 , G01C21/36 , G06F16/583 , G06T7/00 , G06T7/136 , G06T17/05 , G06V10/10 , G06V10/26 , G06V10/762 , G06V10/80 , G06V20/56 , H04N23/698
CPC classification number: G06T7/74 , G01C21/3638 , G06F16/583 , G06T7/136 , G06T7/97 , G06T17/05 , G06V10/26 , G06V10/7635 , G06V10/803 , G06V20/56 , H04N23/698 , G06T2207/10028 , G06T2207/30244 , G06V10/16
Abstract: The present invention provides a method of generating a robust global map using a plurality of limited field-of-view cameras to capture an environment.
Provided is a method for generating a three-dimensional map comprising: receiving a plurality of sequential image data wherein each of the plurality of sequential image data comprises a plurality of sequential images, further wherein the plurality of sequential images is obtained by a plurality of limited field-of-view image sensors; determining a pose of each of the plurality of sequential images of each of the plurality of sequential image data; determining one or more overlapping poses using the determined poses of the sequential image data; selecting at least one set of images from the plurality of sequential images wherein each set of images are determined to have overlapping poses; and constructing one or more map portions derived from each of the at least one set of images.
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