公开(公告)号：US20220180539A1

公开(公告)日：2022-06-09

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 ,  G01S17/894 ,  G01S17/931 ,  G01B11/22 ,  B60W60/00

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.

公开(公告)号：US11861857B2

公开(公告)日：2024-01-02

申请号：US17115254

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 ,  G01S17/894 ,  G01B11/22 ,  B60W60/00 ,  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. 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：US11500075B2

公开(公告)日：2022-11-15

申请号：US16276327

申请日：2019-02-14

Applicant: Zoox, Inc.

Inventor： Sreevatsan Bhaskaran ,  Mehran Ferdowsi ,  Ryan McMichael ,  Subasingha Shaminda Subasingha

IPC: G01S7/4863 ,  G01S7/487 ,  H04B10/50

Abstract: A LIDAR system that identifies, from a channel output, a false positive return and/or suppressing a corresponding false positive detection caused, in some cases, a strong reflection by a highly reflective surface that caused light to leak from a first channel to a second channel. The LIDAR system described herein may identify, as a false return, a return detected in the second channel that has an intensity that is much less than a return in the first channel and indicates a distance that is the same or very close to a distance indicated the return in the first channel. Based at least in part on identifying a return as a false return, the LIDAR system may suppress a false detection associated with the false return by modifying a detection threshold.

公开(公告)号：US20220180538A1

公开(公告)日：2022-06-09

申请号：US17115254

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 ,  G01S17/894 ,  G01B11/22 ,  G01S17/931 ,  B60W60/00

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. 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：US11480686B2

公开(公告)日：2022-10-25

申请号：US16851033

申请日：2020-04-16

Applicant: Zoox, Inc.

Inventor： Sreevatsan Bhaskaran ,  Mehran Ferdowsi ,  Ryan McMichael ,  Subasingha Shaminda Subasingha

IPC: G01S17/931 ,  G01S7/4861 ,  G01S7/484 ,  G01S17/42 ,  G01S17/86

Abstract: Particulate matter, such as dust, steam, smoke, rain, etc. may cause one or more sensor types to generate false positive detections. In particular, various depth measurements may be impeded by particulate matter. Identifying a false return and/or removing a false detection based at least in part on a sensor output may comprise determining a similarity of a portion of a return signal to an emitted light pulse or an expected return signal, determining a variance of the signal portion over time, determining a difference between a power spectrum of the return relative to an expected power spectrum, and/or determining that a duration associated with the signal portion meets or exceeds a threshold duration.

公开(公告)号：US20220255653A1

公开(公告)日：2022-08-11

申请号：US17248755

申请日：2021-02-05

Applicant: Zoox, Inc.

Inventor： Mehran Ferdowsi ,  Turhan Karadeniz ,  Minh Nguyen ,  Subasingha Shaminda Subasingha ,  Harrison Thomas Waschura

IPC: H04J3/06 ,  H04J3/02 ,  H04L12/26

Abstract: 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.

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.

公开(公告)号：US11194027B1

公开(公告)日：2021-12-07

申请号：US16550153

申请日：2019-08-23

Applicant: Zoox, Inc.

Inventor： Subasingha Shaminda Subasingha ,  Turhan Karadeniz ,  Robert Nicholas Moor ,  Mehran Ferdowsi

IPC: G01S7/493

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 noise. In some examples, the sensor data is filtered by comparing a measured intensity value to a threshold intensity value. The threshold intensity value can be determined on a per-pixel basis using depth information and/or intensity information for a corresponding image frame.

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.

公开(公告)号：US11018974B1

公开(公告)日：2021-05-25

申请号：US16193208

申请日：2018-11-16

Applicant: Zoox, Inc.

Inventor： Mehran Ferdowsi ,  Turhan Karadeniz

IPC: H04L12/721 ,  H04L12/707 ,  H04L12/703 ,  H04L12/24 ,  H04L29/14 ,  G06F16/25

Abstract: A vehicle can include various components such as sensors and computing devices, as well as a network to couple the sensors and computing devices. A capability status can indicate an error with a computing device, available computational resources of a computing device, and/or an available bandwidth among others. Sensor data can be manipulated, based on the capability status, into various formats and/or sent to various destinations.