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

IPC: G06V20/58 ,  B60W60/00 ,  G01S17/931 ,  G06T7/20 ,  G06T7/50 ,  G06V10/44

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.

公开(公告)号：US20230095410A1

公开(公告)日：2023-03-30

申请号：US17484169

申请日：2021-09-24

Applicant: Zoox, Inc.

Inventor： Arthur Daniel Costea ,  David Pfeiffer ,  Zeng Wang ,  Allan Zelener

IPC: G01S17/931 ,  G01S17/06 ,  G01B21/16 ,  G01S7/4863 ,  G06N20/00

Abstract: Techniques for detecting and classifying objects using lidar data are discussed herein. In some cases, the system may be configured to utilize a predetermined number of prior frames of lidar data to assist with detecting and classifying objects. In some implementations, the system may utilize a subset of the data associated with the prior lidar frames together with the full set of data associated with a current frame to detect and classify the objects.

公开(公告)号：US20220204029A1

公开(公告)日：2022-06-30

申请号：US17138710

申请日：2020-12-30

Applicant: Zoox, Inc.

Inventor： Yuanyuan Chen ,  Subhasis Das ,  Mark Jonathon McClelland ,  Troy Donovan O'Neal ,  Zeng Wang ,  Dhanushka Nirmevan Kularatne

IPC: B60W60/00 ,  G06K9/00 ,  G06K9/46 ,  G01S17/931 ,  G06T15/06 ,  G06T7/73

Abstract: Techniques for collision avoidance using an object contour are discussed. A trajectory associated with a vehicle may be received. Sensor data can be received from a sensor associated with the vehicle. A bounding contour may be determined and associated with an object represented in the sensor data. Based on the trajectory, a simulated position of the vehicle can be determined. Additionally, a predicted position of the bounding contour can be determined. Based on the simulated position of the vehicle and the predicted position of the bounding contour, a distance between the vehicle and the object may be determined. An action can be performed based on the distance between the vehicle and the object.

公开(公告)号：US20220206162A1

公开(公告)日：2022-06-30

申请号：US17138751

申请日：2020-12-30

Applicant: Zoox, Inc.

Inventor： Yuanyuan Chen ,  Zeng Wang

IPC: G01S17/931 ,  G01S17/89 ,  B60W30/09 ,  G01C21/00 ,  B60W30/095 ,  G08G1/16

Abstract: Techniques for determining an object contour are discussed. Depth data associated with an object may be received. The depth data, such as lidar data, can be projected onto a two-dimensional plane. A first convex hull may be determined based on the projected lidar data. The first convex hull may include a plurality of boundary edges. A longest boundary edge, having a first endpoint and a second endpoint, can be determined. An angle can be determined based on the first endpoint, the second endpoint, and an interior point in the interior of the first convex hull. The longest boundary edge may be replaced with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint. An updated convex hull can be determined based on the first segment and the second segment.

公开(公告)号：US20220156940A1

公开(公告)日：2022-05-19

申请号：US17541580

申请日：2021-12-03

Applicant: Zoox, Inc.

Inventor： Zeng Wang ,  David Pfeiffer ,  Dragomir Dimitrov Anguelov ,  Subhasis Das ,  Allan Zelener

IPC: G06T7/11 ,  G05D1/02 ,  G05D1/00 ,  G06N3/08 ,  G06K9/62 ,  G06T7/521 ,  G06T7/181 ,  G06T7/187 ,  G06V20/58 ,  G06V20/64

Abstract: A vehicle can include various sensors to detect objects in an environment. Sensor data can be captured by a perception system in a vehicle and represented in a voxel space. Operations may include analyzing the data from a top-down perspective. From this perspective, techniques can associate and generate masks that represent objects in the voxel space. Through manipulation of the regions of the masks, the sensor data and/or voxels associated with the masks can be clustered or otherwise grouped to segment data associated with the objects.

公开(公告)号：US11302011B2

公开(公告)日：2022-04-12

申请号：US16802112

申请日：2020-02-26

Applicant: Zoox, Inc.

Inventor： Bertrand Robert Douillard ,  Subhasis Das ,  Zeng Wang ,  Dragomir Dimitrov Anguelov

IPC: G06T7/11 ,  G06K9/62 ,  G06T19/20 ,  G01S17/89 ,  G01S17/931 ,  G06V10/44

Abstract: Multi-dimensional data can be mapped to a projection shape and converted for image analysis. In some examples, the multi-dimensional data may include data captured by a LIDAR system for use in conjunction with a perception system for an autonomous vehicle. Converting operations can include converting three-dimensional LIDAR data to multi-channel two-dimensional data. Data points of the multi-dimensional data can be mapped to a projection shape, such as a sphere. Characteristics of the projection shape may include a shape, a field of view, a resolution, and a projection type. After data is mapped to the projection shape, the projection shape can be converted to a multi-channel, two-dimensional image. Image segmentation and classification may be performed on the two-dimensional data. Further, segmentation information may be used to segment the three-dimensional LIDAR data, while a rendering plane may be positioned relative to the segmented data to perform classification on a per-object basis.

公开(公告)号：US20210192234A1

公开(公告)日：2021-06-24

申请号：US16722931

申请日：2019-12-20

Applicant: Zoox, Inc.

Inventor： Yuanyuan Chen ,  Janek Hudecek ,  David Pfeiffer ,  James William Vaisey Philbin ,  Zeng Wang

IPC: G06K9/00 ,  B60W30/09 ,  B60W50/14

Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.

公开(公告)号：US20200218278A1

公开(公告)日：2020-07-09

申请号：US16825778

申请日：2020-03-20

Applicant: Zoox, Inc.

Inventor： Zeng Wang ,  David Pfeiffer ,  Dragomir Dimitrov Anguelov ,  Subhasis Das ,  Allan Zelener

IPC: G05D1/02 ,  G01S17/89 ,  G05D1/00 ,  G06N3/08 ,  G06K9/62 ,  G06K9/00 ,  G06T7/521 ,  G06T7/181 ,  G06T7/187

Abstract: A vehicle can include various sensors to detect objects in an environment. Sensor data can be captured by a perception system in a vehicle and represented in a voxel space. Operations may include analyzing the data from a top-down perspective. From this perspective, techniques can associate and generate masks that represent objects in the voxel space. Through manipulation of the regions of the masks, the sensor data and/or voxels associated with the masks can be clustered or otherwise grouped to segment data associated with the objects.

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

IPC: G06K9/00 ,  B60W60/00 ,  G01S17/931 ,  G06T7/20 ,  G06T7/50 ,  G06V10/44 ,  G06V20/58

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.

公开(公告)号：US11960009B2

公开(公告)日：2024-04-16

申请号：US17138751

申请日：2020-12-30

Applicant: Zoox, Inc.

Inventor： Yuanyuan Chen ,  Zeng Wang

IPC: G01S17/931 ,  B60W30/09 ,  B60W30/095 ,  G01C21/00 ,  G01S17/89 ,  G08G1/16

CPC classification number: G01S17/931 ,  B60W30/09 ,  B60W30/0956 ,  G01C21/3837 ,  G01S17/89 ,  G08G1/166 ,  B60W2420/408 ,  B60W2554/20 ,  B60W2554/4029

Abstract: Techniques for determining an object contour are discussed. Depth data associated with an object may be received. The depth data, such as lidar data, can be projected onto a two-dimensional plane. A first convex hull may be determined based on the projected lidar data. The first convex hull may include a plurality of boundary edges. A longest boundary edge, having a first endpoint and a second endpoint, can be determined. An angle can be determined based on the first endpoint, the second endpoint, and an interior point in the interior of the first convex hull. The longest boundary edge may be replaced with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint. An updated convex hull can be determined based on the first segment and the second segment.