公开(公告)号：US20220156940A1

公开(公告)日：2022-05-19

申请号：US17541580

申请日：2021-12-03

Applicant: Zoox, Inc.

Inventor： Zeng Wang ,  David Pfeiffer ,  Dragomir Dimitrov Anguelov ,  Subhasis Das ,  Allan Zelener

IPC: G06T7/11 ,  G05D1/02 ,  G05D1/00 ,  G06N3/08 ,  G06K9/62 ,  G06T7/521 ,  G06T7/181 ,  G06T7/187 ,  G06V20/58 ,  G06V20/64

Abstract: A vehicle can include various sensors to detect objects in an environment. Sensor data can be captured by a perception system in a vehicle and represented in a voxel space. Operations may include analyzing the data from a top-down perspective. From this perspective, techniques can associate and generate masks that represent objects in the voxel space. Through manipulation of the regions of the masks, the sensor data and/or voxels associated with the masks can be clustered or otherwise grouped to segment data associated with the objects.

公开(公告)号：US20210192234A1

公开(公告)日：2021-06-24

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

IPC: G06K9/00 ,  B60W30/09 ,  B60W50/14

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.

公开(公告)号：US20200218278A1

公开(公告)日：2020-07-09

申请号：US16825778

申请日：2020-03-20

Applicant: Zoox, Inc.

Inventor： Zeng Wang ,  David Pfeiffer ,  Dragomir Dimitrov Anguelov ,  Subhasis Das ,  Allan Zelener

IPC: G05D1/02 ,  G01S17/89 ,  G05D1/00 ,  G06N3/08 ,  G06K9/62 ,  G06K9/00 ,  G06T7/521 ,  G06T7/181 ,  G06T7/187

Abstract: A vehicle can include various sensors to detect objects in an environment. Sensor data can be captured by a perception system in a vehicle and represented in a voxel space. Operations may include analyzing the data from a top-down perspective. From this perspective, techniques can associate and generate masks that represent objects in the voxel space. Through manipulation of the regions of the masks, the sensor data and/or voxels associated with the masks can be clustered or otherwise grouped to segment data associated with the objects.

公开(公告)号：US20190293772A1

公开(公告)日：2019-09-26

申请号：US15927315

申请日：2018-03-21

Applicant: Zoox, Inc.

Inventor： David Pfeiffer

IPC: G01S7/497 ,  G01S17/93 ,  G01S17/08 ,  G05D1/02 ,  G05D1/00

Abstract: A vehicle control system includes various sensors. The system can include, among others, LIDAR, RADAR, SONAR, cameras, microphones, GPS, and infrared systems for monitoring and detecting environmental conditions. In some implementations, one or more of these sensors may become miscalibrated. Using data collected by the sensors, the system can detect a miscalibrated sensor and generate an indication that one or more sensors have become miscalibrated. For example, data captured by a sensor can be processed to determine an average height represented by the sensor data and compared to an average height of data captured by other sensors. Based on a difference in heights, an indication can be generated identifying a miscalibrated sensor.

公开(公告)号：US20230095410A1

公开(公告)日：2023-03-30

申请号：US17484169

申请日：2021-09-24

Applicant: Zoox, Inc.

Inventor： Arthur Daniel Costea ,  David Pfeiffer ,  Zeng Wang ,  Allan Zelener

IPC: G01S17/931 ,  G01S17/06 ,  G01B21/16 ,  G01S7/4863 ,  G06N20/00

Abstract: Techniques for detecting and classifying objects using lidar data are discussed herein. In some cases, the system may be configured to utilize a predetermined number of prior frames of lidar data to assist with detecting and classifying objects. In some implementations, the system may utilize a subset of the data associated with the prior lidar frames together with the full set of data associated with a current frame to detect and classify the objects.

公开(公告)号：US11163045B2

公开(公告)日：2021-11-02

申请号：US16920983

申请日：2020-07-06

Applicant: Zoox, Inc.

Inventor： David Pfeiffer

IPC: G01S7/497 ,  G05D1/02 ,  G05D1/00 ,  G01S17/08 ,  G01S17/87 ,  G01S17/42 ,  G01S17/931

Abstract: A vehicle control system includes various sensors. The system can include, among others, LIDAR, RADAR, SONAR, cameras, microphones, GPS, and infrared systems for monitoring and detecting environmental conditions. In some implementations, one or more of these sensors may become miscalibrated. Using data collected by the sensors, the system can detect a miscalibrated sensor and generate an indication that one or more sensors have become miscalibrated. For example, data captured by a sensor can be processed to determine an average height represented by the sensor data and compared to an average height of data captured by other sensors. Based on a difference in heights, an indication can be generated identifying a miscalibrated sensor.

公开(公告)号：US10705194B2

公开(公告)日：2020-07-07

申请号：US15927315

申请日：2018-03-21

Applicant: Zoox, Inc.

Inventor： David Pfeiffer

IPC: G01S7/497 ,  G05D1/02 ,  G01S17/08 ,  G01S17/42 ,  G01S17/931 ,  G05D1/00 ,  G01S17/87

Abstract: A vehicle control system includes various sensors. The system can include, among others, LIDAR, RADAR, SONAR, cameras, microphones, GPS, and infrared systems for monitoring and detecting environmental conditions. In some implementations, one or more of these sensors may become miscalibrated. Using data collected by the sensors, the system can detect a miscalibrated sensor and generate an indication that one or more sensors have become miscalibrated. For example, data captured by a sensor can be processed to determine an average height represented by the sensor data and compared to an average height of data captured by other sensors. Based on a difference in heights, an indication can be generated identifying a miscalibrated sensor.

公开(公告)号：US20200126237A1

公开(公告)日：2020-04-23

申请号：US16716960

申请日：2019-12-17

Applicant: Zoox, Inc.

Inventor： David Pfeiffer

IPC: G06T7/11 ,  G06N20/00 ,  G05D1/02

Abstract: A system may include one or more processors configured to receive a plurality of images representing an environment. The images may include image data generated by an image capture device. The processors may also be configured to transmit the image data to an image segmentation network configured to segment the images. The processors may also be configured to receive sensor data associated with the environment including sensor data generated by a sensor of a type different than an image capture device. The processors may be configured to associate the sensor data with segmented images to create a training dataset. The processors may be configured to transmit the training dataset to a machine learning network configured to run a sensor data segmentation model, and train the sensor data segmentation model using the training dataset, such that the sensor data segmentation model is configured to segment sensor data.

公开(公告)号：US10535138B2

公开(公告)日：2020-01-14

申请号：US15820245

申请日：2017-11-21

Applicant: Zoox, Inc.

Inventor： David Pfeiffer

IPC: G06N7/00 ,  G06T7/11 ,  G05D1/02 ,  G06N20/00 ,  G01S17/02 ,  G01S17/93 ,  G05D1/00

Abstract: A system may include one or more processors configured to receive a plurality of images representing an environment. The images may include image data generated by an image capture device. The processors may also be configured to transmit the image data to an image segmentation network configured to segment the images. The processors may also be configured to receive sensor data associated with the environment including sensor data generated by a sensor of a type different than an image capture device. The processors may be configured to associate the sensor data with segmented images to create a training dataset. The processors may be configured to transmit the training dataset to a machine learning network configured to run a sensor data segmentation model, and train the sensor data segmentation model using the training dataset, such that the sensor data segmentation model is configured to segment sensor data.

公开(公告)号：US11640170B1

公开(公告)日：2023-05-02

申请号：US16667603

申请日：2019-10-29

Applicant: Zoox, Inc.

Inventor： Carden Taylor Bagwell ,  David Pfeiffer ,  Zeng Wang

IPC: G05D1/02 ,  G01N15/00 ,  G05D1/00 ,  G01S17/02 ,  G01S17/931

Abstract: Techniques for detecting an object in an environment and determining a probability that the object is a cloud of particulate matter. The cloud of particulate matter may include steam (e.g., emitted from a man-hole cover, a dryer exhaust port, etc.), exhaust from a vehicle (e.g., car, truck, motorcycle, etc.), environmental gases (e.g., resulting from sublimation, fog, evaporation, etc.), a cloud of dust, water splashing, blowing leaves, or other types of particulate matter that may be located in the environment of the vehicle and may not impact driving behavior (e.g., an autonomous vehicle may safely pass through the particulate matter without impact to the platform). A vehicle computing system may determine the probability that the object is a cloud of particulate matter and may control the vehicle based on the probability.