公开(公告)号：WO2021133810A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/066630

申请日：2020-12-22

Applicant: ZOOX, INC.

Inventor： CANADY, Christopher David ,  MCMICHAEL, Ryan ,  PERALI, Irene ,  RUIZ, Alejandro

IPC: G06K9/46 ,  G06T7/215 ,  G05D1/02 ,  G06N20/00 ,  B60S1/56 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2555/20 ,  B60W50/0205 ,  B60W50/038 ,  B60W60/0015 ,  G01S17/931 ,  G01S7/497 ,  G05D1/0231 ,  G06K9/4647 ,  G07C5/008 ,  G07C5/0808 ,  H04N17/002

Abstract: Techniques for determining a degraded state associated with a sensor are discussed herein. For example, a sensor associated with vehicle may captured data of an environment. A portion of the data may represent a portion of the vehicle. Data associated with a region of interest can be determined based on a calibration associated with the sensor. For example, in the context of image data, image coordinates may be used to determine a region of interest, while in the context of lidar data, a beam and/or azimuth can be used to determine a region of interest. A data metric can be determined for data in the region of interest, and an action can be determined based on the data metric. For example, the action can include cleaning a sensor, scheduling maintenance, reducing a confidence associated with the data, or slowing or stopping the vehicle.