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US 11,693,414 B2Granted
Non-solid object monitoring
AssigneeApple Inc.
InventorsByron B. Han, Young Woo Seo, Kit-Man Wan
Life of this patent
Estimating the term…
Abstract
An autonomous navigation system may navigate through an environment in which one or more non-solid objects, including gaseous and/or liquid objects, are located. Non-solid objects may be determined, using sensor data, to present an obstacle or interference based on determined chemical composition, size, position, velocity, concentration, etc. of the objects.
Claims20
A system, comprising:
- one or more processors;
- and
- a memory storing instructions that, when executed on or across the one or more processors, cause the one or more processors to implement an autonomous navigation system configured to:
- detect a non-solid object on a terrain of an environment, the non-solid object comprising a fluid substance, based on processing sensor data generated by one or more sensors configured to monitor the environment to detect one or more features of the non-solid object;
- determine a depth of the non-solid object based at least on a relative elevation difference between an elevation of a surface of the non-solid object, as determined based on processing the sensor data, and an elevation of a portion of the terrain under the non-solid object, determined based on a model of the environment;
- and
- based on the determined depth satisfying a depth threshold, navigate a vehicle along a driving route which avoids intersecting with the non-solid object.
4 more elements
A method, comprising:
- performing, by one or more computer systems:
- detecting a non-solid object on a terrain of an environment, the non-solid object comprising a fluid substance, based on processing sensor data generated by one or more sensors configured to monitor the environment to detect one or more features of the non-solid object;
- determining a depth of the non-solid object based at least on a relative elevation difference between an elevation of a surface of the non-solid object, as determined based on processing the sensor data, and an elevation of a portion of the terrain under the non-solid object, determined based on a model of the environment;
- and
- based on the determined depth satisfying a depth threshold, navigating a vehicle along a driving route which avoids intersecting with the non-solid object.
2 more elements
One or more non-transitory, computer-readable media storing a program of instructions which, when executed on or across one or more processors, cause the one or more processors:
- detect a non-solid object on a terrain of an environment, the non-solid object comprising a fluid substance, based on processing sensor data generated by one or more sensors configured to monitor the environment to detect one or more features of the non-solid object;
- determine a depth of the non-solid object based at least on a relative elevation difference between an elevation of a surface of the non-solid object, as determined based on processing the sensor data, and an elevation of a portion of the terrain under the non-solid object, determined based on a model of the environment;
- and
- based on the determined depth satisfying a depth threshold, navigate a vehicle along a driving route which avoids intersecting with the non-solid object.
1 more element
Dependencies are inferred from the claim text.