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公开(公告)号：US11994591B2
公开(公告)日：2024-05-28
申请号：US17115180
申请日：2020-12-08
申请人： Zoox, Inc.
发明人： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC分类号： G01S17/931 , B60W60/00 , G01S13/931 , G01S15/931 , G06T7/521 , G06T7/55 , G06T7/70
CPC分类号： G01S17/931 , G01S13/931 , G01S15/931 , G06T7/521 , G06T7/55 , G06T7/70 , B60W60/001 , B60W2554/402 , B60W2554/4041 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. An estimated depth of an object may be determined from the first image data, and an actual depth of the object may be determined from the second image data, based on the estimated depth. In examples, the first and second configurations have different modulation frequencies such that a nominal maximum depth in the first configuration is greater than the nominal maximum depth in the second configuration.
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公开(公告)号：US20220255653A1
公开(公告)日：2022-08-11
申请号：US17248755
申请日：2021-02-05
申请人： Zoox, Inc.
发明人： Mehran Ferdowsi , Turhan Karadeniz , Minh Nguyen , Subasingha Shaminda Subasingha , Harrison Thomas Waschura
摘要： Techniques for facilitating a robust clock synchronization across a computer network that presumes network jitter exists are discussed herein. A first device and a second device transceive a plurality of sets of time-synchronization messages to synchronize a synchronization clock of the second device to a first clock of the first device. The second device calculates a smoothing of time delay data of a plurality of sets. The time delay data is associated with a transmission duration of time-synchronization messages of the sets of the plurality. The second device sets a synchronization clock based on a time at the first device and the smoothed time delay data.
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公开(公告)号：US20220179089A1
公开(公告)日：2022-06-09
申请号：US17115180
申请日：2020-12-08
申请人： Zoox, inc.
发明人： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Tuman Karadeniz , Roberrt Nicholsd Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC分类号： G01S17/931 , G06T7/521 , G06T7/70 , G06T7/55 , G01S13/931 , G01S15/931
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. An estimated depth of an object may be determined from the first image data, and an actual depth of the object may be determined from the second image data, based on the estimated depth. In examples, the first and second configurations have different modulation frequencies such that a nominal maximum depth in the first configuration is greater than the nominal maximum depth in the second configuration.
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公开(公告)号：US11988775B1
公开(公告)日：2024-05-21
申请号：US16719565
申请日：2019-12-18
申请人： Zoox, Inc.
发明人： Harrison Thomas Waschura , Turhan Karadeniz , Ryan McMichael , Robert Nicholas Moor , Denis Nikitin , Subasingha Shaminda Subasingha , Joseph Patrick Warga , Silas Kogure Wilkinson
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can be impacted by glare. In some examples, an emitter system for illuminating a field of view can be dynamically altered to provide different illumination intensities at different regions in the field of view. For instance, locations at which a highly-reflective object or other object that is likely to cause glare may be illuminated at a lower illumination intensity, e.g., to reduce the likelihood of pixel saturation in measured data associated with the object.
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公开(公告)号：US20220180539A1
公开(公告)日：2022-06-09
申请号：US17115320
申请日：2020-12-08
申请人： Zoox, Inc.
发明人： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC分类号： G06T7/521 , G01S17/894 , G01S17/931 , G01B11/22 , B60W60/00
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include returns associated with highly reflective objects that cause glare. In some examples, a depth of a sensed surface is determined from the sensor data and additional pixels at the same depth are identified. The subset of pixels at the depth are filtered by comparing a measured intensity value to a threshold intensity value for the depth. Other threshold intensity values can be applied to subsets of pixels at different depths.
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公开(公告)号：US20210096225A1
公开(公告)日：2021-04-01
申请号：US16588267
申请日：2019-09-30
申请人： Zoox, Inc.
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return pixels subject to over-exposure or saturation, which may be from stray light. In some examples, multiple exposures captured at different exposure times can be used to determine a saturation value for sensor data. The saturation value may be used to determine a threshold intensity against which intensity values of a primary exposure are compared. A filtered data set can be obtained based on the comparison.
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公开(公告)号：US11861857B2
公开(公告)日：2024-01-02
申请号：US17115254
申请日：2020-12-08
申请人： Zoox, Inc.
发明人： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC分类号： G06T7/521 , G01S17/894 , G01B11/22 , B60W60/00 , G01S17/931
CPC分类号： G06T7/521 , B60W60/00272 , G01B11/22 , G01S17/894 , G01S17/931 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.
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公开(公告)号：US11841438B2
公开(公告)日：2023-12-12
申请号：US16588347
申请日：2019-09-30
申请人： Zoox, Inc.
IPC分类号： G01S17/93 , G01S17/08 , G01S7/48 , G01S17/931
CPC分类号： G01S17/931 , G01S7/4808 , G01S17/08
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return unreliable pixels, e.g., in the case of over-exposure or saturation. In some examples, multiple exposures captured at different exposure times can be used to determine an overall saturation value or metric representative of the sensor data. The saturation value may be used to control parameters of the sensor. For instance, the saturation value may be used to determine power control parameters for the sensor, e.g., to reduce over- and/or under-exposure.
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公开(公告)号：US20220180538A1
公开(公告)日：2022-06-09
申请号：US17115254
申请日：2020-12-08
申请人： Zoox, Inc.
发明人： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC分类号： G06T7/521 , G01S17/894 , G01B11/22 , G01S17/931 , B60W60/00
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.
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公开(公告)号：US10972638B1
公开(公告)日：2021-04-06
申请号：US16550102
申请日：2019-08-23
申请人： Zoox, Inc.
发明人： Harrison Thomas Waschura , Joseph Patrick Warga , Subasingha Shaminda Subasingha , Robert Nicholas Moor , Ryan McMichael
IPC分类号： H04N13/271 , H04N5/217 , H04N13/128 , G06T7/73 , G01S7/48 , G01S17/931 , G01S7/487 , H04N13/00
摘要： Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can be impacted by glare. In some examples, corrected data is generated by quantifying glare. A glare region including pixels that are not associated with an object in a range of the time-of-flight sensor may provide glare intensity and glare depth values used to quantify the glare. The glare intensity and glare depth may be used to correct measured data.
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