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.

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.

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.

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.

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.

公开(公告)号：US11954877B2

公开(公告)日：2024-04-09

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 ,  B60W60/00 ,  G01B11/22 ,  G01S17/894 ,  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. 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.

公开(公告)号：US11753042B1

公开(公告)日：2023-09-12

申请号：US17136222

申请日：2020-12-29

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： B60W60/00 ,  G05D1/02 ,  G01S13/931

CPC分类号： B60W60/0027 ,  G05D1/0214 ,  B60W2554/00 ,  G01S13/931 ,  G01S2013/9323 ,  G01S2013/9324

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 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.