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公开(公告)号：US20210096264A1
公开(公告)日：2021-04-01
申请号：US16588717
申请日：2019-09-30
申请人： Zoox, Inc.
摘要： Classifying sensor data as being associated with ground (as opposed to an object) may comprise determining a number of channels of sensor data that have returns in them, setting a number of control points and a number of knots of a curve based at least in part on the number of channels that have returns, and fitting a curve having the number of control points and the number of knots to the sensor data. The curve may be used to distinguish sensor data associated with the ground from sensor data associated with an object. Determining the curve may additionally or alternatively include limiting an elevation value of a control point and/or knot based on elevation value(s) of the sensor data, weighting the sensor data based at least in part on elevation values associated with the sensor data, and/or adjusting knot spacing, et alia.
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公开(公告)号：US20230131721A1
公开(公告)日：2023-04-27
申请号：US17384448
申请日：2021-07-23
申请人： Zoox, Inc.
发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Subasingha Shaminda Subasingha , Joshua Kriser Cohen , Chuang Wang , Samantha Marie Ting , Badeea Ferdaous Alferdaous Alazem
摘要： Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.
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公开(公告)号：US20220390597A1
公开(公告)日：2022-12-08
申请号：US17833528
申请日：2022-06-06
申请人： Zoox, Inc.
发明人： Chuang Wang , Joshua Kriser Cohen
IPC分类号： G01S13/931 , G01S13/08
摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a reflection point may be determined from a first position of a first radar return and a second position of a second radar return. Additional data, e.g., sensor data and/or map data, may be used to determine the presence of objects in the environment. The first return or the second return may be a reflected return if an object is disposed at the reflection point. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.
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公开(公告)号：US11231481B1
公开(公告)日：2022-01-25
申请号：US16407139
申请日：2019-05-08
申请人： Zoox, Inc.
发明人： Joshua Kriser Cohen , Anton Mario Bongio Karrman , Dilip Bethanabhotla , Subasingha Shaminda Subasingha , Chuang Wang
IPC分类号： G01S7/292 , G01S7/41 , G01S13/931
摘要： Techniques are described for determining a likelihood that a radar device failed to detect an object (i.e., a false negative). Determining the likelihood may be based at least in part on determining an estimated noise floor based at least in part on at least a portion of radar data, which may comprise one or more detections, and determining a likelihood that the portion of radar data includes a false positive, based at least in part on the estimated noise floor and a response profile associated with an object. A response profile may identify a received signal power and/or radar cross section associated with an object type.
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公开(公告)号：US20200278440A1
公开(公告)日：2020-09-03
申请号：US16288990
申请日：2019-02-28
申请人： Zoox, Inc.
发明人： Chuang Wang , Joshua Kriser Cohen
摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a velocity associated with a first radar return may be projected onto a radial direction associated with a second radar return to determine a projected velocity. In some examples, the second radar return may be a reflected return if the magnitude of the projected velocity corresponds to a magnitude of the second radar return. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.
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公开(公告)号：US20200278435A1
公开(公告)日：2020-09-03
申请号：US16289068
申请日：2019-02-28
申请人： Zoox, Inc.
发明人： Chuang Wang , Joshua Kriser Cohen
摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a reflection point may be determined from a first position of a first radar return and a second position of a second radar return. Additional data, e.g., sensor data and/or map data, may be used to determine the presence of objects in the environment. The first return or the second return may be a reflected return if an object is disposed at the reflection point. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.
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公开(公告)号：US11709260B2
公开(公告)日：2023-07-25
申请号：US17245929
申请日：2021-04-30
申请人： Zoox, Inc.
发明人： Badeea Ferdaous Alferdaous Alazem , Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Joshua Kriser Cohen , Subasingha Shaminda Subasingha , Samantha Marie Ting , Chuang Wang
IPC分类号： G01S13/931 , G01S13/89 , G01S17/95 , G01S13/86
CPC分类号： G01S13/931 , G01S13/865 , G01S13/89 , G01S17/95
摘要： Techniques for determining a probability of a false negative associated with a location of an environment are discussed herein. Data from a sensor, such as a radar sensor, can be received that includes point cloud data, which includes first and second data points. The first data point has a first attribute and the second data point has a second attribute. A difference between the first and second attributes is determined such that a frequency distribution may be determined. The frequency distribution may then be used to determine a distribution function, which allows for the determination of a resolution function that is associated with the sensor. The resolution function may then be used to determine a probability of a false negative at a location in an environment. The probability can be used to control a vehicle in a safe and reliable manner.
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公开(公告)号：US11703566B2
公开(公告)日：2023-07-18
申请号：US17373550
申请日：2021-07-12
申请人： Zoox, Inc.
IPC分类号： G06N20/20 , G01S7/41 , G06T7/11 , G01S17/89 , G06N3/08 , G06V10/25 , G06V10/764 , G06V10/82 , G06V20/64
CPC分类号： G01S7/417 , G01S17/89 , G06N3/08 , G06N20/20 , G06T7/11 , G06V10/25 , G06V10/764 , G06V10/82 , G06V20/64 , G06T2207/10028
摘要： A machine-learning architecture may be trained to determine point cloud data associated with different types of sensors with an object detected in an image and/or generate a three-dimensional region of interest (ROI) associated with the object. In some examples, the point cloud data may be associated with sensors such as, for example, a lidar device, radar device, etc.
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公开(公告)号：US20230142674A1
公开(公告)日：2023-05-11
申请号：US17384430
申请日：2021-07-23
申请人： Zoox, Inc.
发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Subasingha Shaminda Subasingha , Joshua Kriser Cohen , Chuang Wang , Samantha Marie Ting , Badeea Ferdaous Alferdaous Alazem
IPC分类号： G01S7/41 , G01S13/931
CPC分类号： G01S7/41 , G01S13/931
摘要： Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.
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公开(公告)号：US11255958B2
公开(公告)日：2022-02-22
申请号：US16288990
申请日：2019-02-28
申请人： Zoox, Inc.
发明人： Chuang Wang , Joshua Kriser Cohen
IPC分类号： G01S13/58 , G01S7/02 , G01S13/931
摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a velocity associated with a first radar return may be projected onto a radial direction associated with a second radar return to determine a projected velocity. In some examples, the second radar return may be a reflected return if the magnitude of the projected velocity corresponds to a magnitude of the second radar return. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.
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