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公开(公告)号：US12026956B1
公开(公告)日：2024-07-02
申请号：US17513674
申请日：2021-10-28
Applicant: Zoox, Inc.
Inventor： Scott M. Purdy , Subhasis Das , Derek Xiang Ma , Zeng Wang
CPC classification number: G06V20/58 , B60W60/0015 , B60W60/0027 , G01S17/931 , G06T7/20 , G06T7/50 , G06V10/44 , B60W2420/403 , B60W2420/408 , B60W2554/404 , G06T2207/10028 , G06T2207/30241 , G06T2207/30261
Abstract: Techniques are discussed herein for controlling autonomous vehicles within a driving environment, including generating and using bounding contours associated with objects detected in the environment. Image data may be captured and analyzed to identify and/or classify objects within the environment. Image-based and/or lidar-based techniques may be used to determine depth data associated with the objects, and a bounding contour may be determined based on the object boundaries and associated depth data. An autonomous vehicle may use the bounding contours of objects within the environment to classify the objects, predict the positions, poses, and trajectories of the objects, and determine trajectories and perform other vehicle control actions while safely navigating the environment.
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公开(公告)号：US11694447B2
公开(公告)日：2023-07-04
申请号：US17408816
申请日：2021-08-23
Applicant: Zoox, Inc.
Inventor： Derek Xiang Ma , Zejia Zheng
CPC classification number: G06V20/588 , G06V20/58 , G06V20/582
Abstract: Techniques are described for detecting whether a lane of a roadway is open or closed. Detecting a lane as being closed may include detecting an object in or near the lane, which may comprise determining a size, location, and/or classification associated with the object, and dilating the size associated with the object. The lane may be indicated as being closed if a distance between a dilated object detection and another object detection, dilated object detection, or lane extent is less than a threshold distance. The techniques may additionally or alternatively comprise determining an alternative lane shape based at least in part on one or more object detections and/or determining that one or more lanes are closed and/or uploading a lane closure and/or alternative lane shape to a central database for retrieval by/dissemination to other computing devices.
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公开(公告)号：US12299997B1
公开(公告)日：2025-05-13
申请号：US17952604
申请日：2022-09-26
Applicant: Zoox, Inc.
Inventor： Amir Ghaderi , Jonathan Tyler Dowdall , Derek Xiang Ma
Abstract: Techniques for detecting, locating, and/or classifying objects based on multiple sensor data inputs received from different sensor modalities. The techniques may include receiving sensor data generated by different sensor modalities of a vehicle, the sensor data including at least first sensor data generated by a first sensor modality and second sensor data generated by a second sensor modality. In some examples, the sensor data may be input into a machine-learning pipeline. The machine-learning pipeline may be configured to determine locations of objects in an environment surrounding the vehicle based at least in part on a correlation, by the multi-attention component, of the first sensor data and the second sensor data. The techniques may also include receiving, from the machine-learning pipeline, an output indicating a location of an object in the environment.
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公开(公告)号：US20250022284A1
公开(公告)日：2025-01-16
申请号：US18750796
申请日：2024-06-21
Applicant: Zoox, Inc.
Inventor： Scott M. Purdy , Derek Xiang Ma , Subhasis Das , Zeng Wang
Abstract: Techniques are discussed herein for controlling autonomous vehicles within a driving environment, including generating and using bounding contours associated with objects detected in the environment. Image data may be captured and analyzed to identify and/or classify objects within the environment. Image-based and/or lidar-based techniques may be used to determine depth data associated with the objects, and a bounding contour may be determined based on the object boundaries and associated depth data. An autonomous vehicle may use the bounding contours of objects within the environment to classify the objects, predict the positions, poses, and trajectories of the objects, and determine trajectories and perform other vehicle control actions while safely navigating the environment.
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公开(公告)号：US20220101020A1
公开(公告)日：2022-03-31
申请号：US17549756
申请日：2021-12-13
Applicant: Zoox, Inc.
Inventor： Bryce A. Evans , Derek Xiang Ma , Sarah Tariq
Abstract: Techniques are disclosed for tracking objects in sensor data, such as multiple images or multiple LIDAR clouds. The techniques may include comparing segmentations of sensor data such as by, for example, determining a similarity of a first segmentation of first sensor data and a second segmentation of second sensor data. Comparing the similarity may comprise determining a first embedding associated with the first segmentation and a second embedding associated with the second segmentation and determining a distance between the first embedding and the second embedding. The techniques may improve the accuracy and/or safety of systems integrating the techniques discussed herein.
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Patent Agency Ranking
公开(公告)号：US20200372262A1
公开(公告)日：2020-11-26
申请号：US16417441
申请日：2019-05-20
Applicant: Zoox, Inc.
Inventor： Derek Xiang Ma , Zejia Zheng
IPC: G06K9/00
Abstract: Techniques are described for detecting whether a lane of a roadway is open or closed. Detecting a lane as being closed may include detecting an object in or near the lane, which may comprise determining a size, location, and/or classification associated with the object, and dilating the size associated with the object. The lane may be indicated as being closed if a distance between a dilated object detection and another object detection, dilated object detection, or lane extent is less than a threshold distance. The techniques may additionally or alternatively comprise determining an alternative lane shape based at least in part on one or more object detections and/or determining that one or more lanes are closed and/or uploading a lane closure and/or alternative lane shape to a central database for retrieval by/dissemination to other computing devices.
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7.发明公开公开(公告)号：US20240320985A1
公开(公告)日：2024-09-26
申请号：US18621922
申请日：2024-03-29
Applicant: Zoox, Inc.
Inventor： Subhasis Das , Oytun Ulutan , Yi-Ting Lin , Derek Xiang Ma
Abstract: A system for faster object attribute and/or intent classification may include an machine-learned (ML) architecture that processes temporal sensor data (e.g., multiple instances of sensor data received at different times) and includes a cache in an intermediate layer of the ML architecture. The ML architecture may be capable of classifying an object's intent to enter a roadway, idling near a roadway, or active crossing of a roadway. The ML architecture may additionally or alternatively classify indicator states, such as indications to turn, stop, or the like. Other attributes and/or intentions are discussed herein.
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8.发明公开公开(公告)号：US20230144745A1
公开(公告)日：2023-05-11
申请号：US17522832
申请日：2021-11-09
Applicant: Zoox, Inc.
Inventor： Oytun Ulutan , Subhasis Das , Yi-Ting Lin , Derek Xiang Ma
CPC classification number: G06K9/00805 , G06K9/00342 , G05D1/0246 , G05D1/0221 , G06N3/04
Abstract: A system for faster object attribute and/or intent classification may include an machine-learned (ML) architecture that processes temporal sensor data (e.g., multiple instances of sensor data received at different times) and includes a cache in an intermediate layer of the ML architecture. The ML architecture may be capable of classifying an object's intent to enter a roadway, idling near a roadway, or active crossing of a roadway. The ML architecture may additionally or alternatively classify indicator states, such as indications to turn, stop, or the like. Other attributes and/or intentions are discussed herein.
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公开(公告)号：US11200429B1
公开(公告)日：2021-12-14
申请号：US16235862
申请日：2018-12-28
Applicant: Zoox, Inc.
Inventor： Bryce A. Evans , Derek Xiang Ma , Sarah Tariq
Abstract: Techniques are disclosed for tracking objects in sensor data, such as multiple images or multiple LIDAR clouds. The techniques may include comparing segmentations of sensor data such as by, for example, determining a similarity of a first segmentation of first sensor data and a second segmentation of second sensor data. Comparing the similarity may comprise determining a first embedding associated with the first segmentation and a second embedding associated with the second segmentation and determining a distance between the first embedding and the second embedding. The techniques may improve the accuracy and/or safety of systems integrating the techniques discussed herein.
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10.发明授权公开(公告)号：US12260651B2
公开(公告)日：2025-03-25
申请号：US18621922
申请日：2024-03-29
Applicant: Zoox, Inc.
Inventor： Subhasis Das , Oytun Ulutan , Yi-Ting Lin , Derek Xiang Ma
Abstract: A system for faster object attribute and/or intent classification may include an machine-learned (ML) architecture that processes temporal sensor data (e.g., multiple instances of sensor data received at different times) and includes a cache in an intermediate layer of the ML architecture. The ML architecture may be capable of classifying an object's intent to enter a roadway, idling near a roadway, or active crossing of a roadway. The ML architecture may additionally or alternatively classify indicator states, such as indications to turn, stop, or the like. Other attributes and/or intentions are discussed herein.
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