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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
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC: G01S17/931 , B60W60/00 , G01S13/931 , G01S15/931 , G06T7/521 , G06T7/55 , G06T7/70
CPC classification number: G01S17/931 , G01S13/931 , G01S15/931 , G06T7/521 , G06T7/55 , G06T7/70 , B60W60/001 , B60W2554/402 , B60W2554/4041 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: 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：US11953623B2
公开(公告)日：2024-04-09
申请号：US16864082
申请日：2020-04-30
Applicant: Zoox, Inc.
Inventor： Derek Adams , Daniel Glenn Johnson , Christopher William Labadie , Ryan McMichael , Daniel Miller , Peter Thomas Mitros , Anubhav Thakur , Joseph Patrick Warga , Austin In-Jei Yi
IPC: G01S7/481 , B08B3/02 , B08B5/02 , B60R11/04 , B60R16/02 , B60S1/48 , B60S1/54 , G01S17/10 , G01S17/86 , G01S17/931
CPC classification number: G01S7/4813 , B08B3/02 , B08B5/02 , B60R11/04 , B60R16/0207 , B60S1/48 , B60S1/54 , G01S17/10 , G01S17/86 , G01S17/931
Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.
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公开(公告)号：US11623585B2
公开(公告)日：2023-04-11
申请号：US16864109
申请日：2020-04-30
Applicant: Zoox, Inc.
Inventor： Derek Adams , Daniel Glenn Johnson , Christopher William Labadie , Ryan McMichael , Daniel Miller , Peter Thomas Mitros , Anubhav Thakur , Joseph Patrick Warga , Austin In-Jei Yi
Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly disposed on a vehicle, for example, an autonomous vehicle to collect and provide data of the environment during operation of the vehicle. The sensor pods may be disposed at elevated locations around the vehicle to reduce obstacles within the sensor pods fields of view.
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公开(公告)号：US11954877B2
公开(公告)日：2024-04-09
申请号：US17115320
申请日：2020-12-08
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC: G06T7/521 , B60W60/00 , G01B11/22 , G01S17/894 , G01S17/931
CPC classification number: G06T7/521 , B60W60/00272 , G01B11/22 , G01S17/894 , G01S17/931 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: 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：US11753042B1
公开(公告)日：2023-09-12
申请号：US17136222
申请日：2020-12-29
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC: B60W60/00 , G05D1/02 , G01S13/931
CPC classification number: B60W60/0027 , G05D1/0214 , B60W2554/00 , G01S13/931 , G01S2013/9323 , G01S2013/9324
Abstract: 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 saturated pixels, e.g., due to over-exposure, sensing highly-reflective objects, and/or excessive ambient light. In some examples, parameters associated with power of a time-of-flight sensor can be altered based on characteristics of the saturated pixels, as well as information about non-saturated pixels neighboring the saturated pixels. For example, the neighboring pixels may provide information about whether saturation is due to ambient light, e.g., sunlight, or due to emitted light from the sensor.
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Patent Agency Ranking
公开(公告)号：US20210339710A1
公开(公告)日：2021-11-04
申请号：US16864146
申请日：2020-04-30
Applicant: Zoox, Inc.
Inventor： Derek Adams , Daniel Glenn Johnson , Christopher William Labadie , Ryan McMichael , Daniel Miller , Peter Thomas Mitros , Anubhav Thakur , Joseph Patrick Warga , Austin In-Jei Yi
Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. The sensor pod system may include a cleaning system to clean sensing surfaces of sensor pods during operation. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.
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公开(公告)号：US11760313B2
公开(公告)日：2023-09-19
申请号：US16864146
申请日：2020-04-30
Applicant: Zoox, Inc.
Inventor： Derek Adams , Daniel Glenn Johnson , Christopher William Labadie , Ryan McMichael , Daniel Miller , Peter Thomas Mitros , Anubhav Thakur , Joseph Patrick Warga , Austin In-Jei Yi
IPC: B60S1/52 , B60S1/54 , B60S1/50 , B08B3/02 , B08B5/02 , B08B3/08 , G01S13/931 , G01S15/931 , G01S7/52 , G01S7/40 , G01S7/497
CPC classification number: B60S1/52 , B08B3/02 , B08B3/08 , B08B5/02 , B60S1/50 , B60S1/54 , G01S13/931 , G01S15/931 , G01S7/4004 , G01S7/4043 , G01S7/497 , G01S7/52004 , G01S2007/4977 , G01S2007/52011
Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. The sensor pod system may include a cleaning system to clean sensing surfaces of sensor pods during operation. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.
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公开(公告)号：US11500067B1
公开(公告)日：2022-11-15
申请号：US16206885
申请日：2018-11-30
Applicant: Zoox, Inc.
Inventor： Ryan McMichael , Robert Nicholas Moor , Joseph Patrick Warga , Silas Kogure Wilkinson
Abstract: Various lens designs for use in Time of Flight (ToF) sensor systems are discussed. Improvements to a ToF sensor system may be realized by, for example, incorporating a lens having particular features, such as a relatively short track length, fast lens speed (e.g., low f-number), low telecentricity, relatively flat field illumination, and fairly low cost. In some examples, such a lens of a ToF sensor system may be a lens assembly having a fixed focal length and that avoids use of lenses having aspheric surfaces so as to achieve relatively low cost.
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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
Applicant: Zoox, inc.
Inventor： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Tuman Karadeniz , Roberrt Nicholsd Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC: G01S17/931 , G06T7/521 , G06T7/70 , G06T7/55 , G01S13/931 , G01S15/931
Abstract: 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：US20210339699A1
公开(公告)日：2021-11-04
申请号：US16864122
申请日：2020-04-30
Applicant: Zoox, Inc.
Inventor： Derek Adams , Daniel Glenn Johnson , Christopher William Labadie , Ryan McMichael , Daniel Miller , Peter Thomas Mitros , Anubhav Thakur , Joseph Patrick Warga , Austin In-Jei Yi
IPC: B60R21/34 , B60R21/013
Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may include a housing and extend from a portion of a body of a vehicle. The sensor pod housing may have energy absorbing structures configured to absorb and dissipate energy during an impact in order to protect a pedestrian. The sensor pod may have deformable portions of the housing configured to absorb and dissipate energy during the impact. The sensor pod may have deformable fasteners coupling a sensor to the sensor pod configured to deform to absorb and dissipate energy during the impact.
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