Determining yaw error from map data, lasers, and cameras

    公开(公告)号:US10670725B2

    公开(公告)日:2020-06-02

    申请号:US15658800

    申请日:2017-07-25

    Applicant: Waymo LLC

    Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.

    System and method for determining pose data for a vehicle

    公开(公告)号:US09915947B1

    公开(公告)日:2018-03-13

    申请号:US15054441

    申请日:2016-02-26

    Applicant: Waymo LLC

    CPC classification number: G05D1/0077 G05D2201/0213

    Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.

    Determining yaw error from map data, lasers, and cameras

    公开(公告)号:US11675084B2

    公开(公告)日:2023-06-13

    申请号:US16856275

    申请日:2020-04-23

    Applicant: Waymo LLC

    Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.

    Devices and Methods for a Sensor Platform of a Vehicle

    公开(公告)号:US20180081361A1

    公开(公告)日:2018-03-22

    申请号:US15271140

    申请日:2016-09-20

    Applicant: Waymo LLC

    CPC classification number: G01C21/20 G01C19/34 G01C21/18

    Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

    System and method for determining pose data for a vehicle

    公开(公告)号:US11880199B1

    公开(公告)日:2024-01-23

    申请号:US16862808

    申请日:2020-04-30

    Applicant: Waymo LLC

    CPC classification number: G05D1/0088 G05D1/0268 G05D1/0278 G05D2201/02

    Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.

    Determining Yaw Error from Map Data, Lasers, and Cameras

    公开(公告)号:US20230152461A1

    公开(公告)日:2023-05-18

    申请号:US18156538

    申请日:2023-01-19

    Applicant: Waymo LLC

    Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.

    System and method for determining pose data for a vehicle

    公开(公告)号:US10663969B1

    公开(公告)日:2020-05-26

    申请号:US16137136

    申请日:2018-09-20

    Applicant: Waymo LLC

    Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.

    Determining Yaw Error from Map Data, Lasers, and Cameras

    公开(公告)号:US20190033459A1

    公开(公告)日:2019-01-31

    申请号:US15658800

    申请日:2017-07-25

    Applicant: Waymo LLC

    Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.

    Devices and methods for a sensor platform of a vehicle

    公开(公告)号:US11209276B2

    公开(公告)日:2021-12-28

    申请号:US16674159

    申请日:2019-11-05

    Applicant: Waymo LLC

    Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

    Determining Yaw Error from Map Data, Lasers, and Cameras

    公开(公告)号:US20200249359A1

    公开(公告)日:2020-08-06

    申请号:US16856275

    申请日:2020-04-23

    Applicant: Waymo LLC

    Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.

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