US 12,002,217 B1Granted

Detection box determination based on pixel clustering

AssigneeZoox, Inc.

InventorsStanley Lilian Volta, Allan Zelener

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Abstract

Techniques for determining detection boxes representing objects in an environment using pixel clustering are disclosed herein. Autonomous vehicle sensors can capture data in an environment that may include separate objects, such as large and/or articulated vehicles. In an example, the data can include a plurality of pixels that are associated with a large object. A vehicle computing system can generate a detection box for each pixel of the plurality of pixels and can determine at least one averaged detection box representing the large object. In an example, the vehicle computing system can control the vehicle based in part on the at least one averaged detection boxes.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving pixel data for a plurality of pixels corresponding to an object in an environment, wherein the pixel data comprises object classification confidence values and detection box parameters associated with individual pixels of the plurality of pixels;
identifying a subset of the plurality of pixels associated with the object classification confidence values above a threshold confidence value;
generating, based at least in part on a detection box parameter, a cluster of pixels comprising a first pixel of the subset of the plurality of pixels and a second pixel of the subset of the plurality of pixels;
generating an averaged detection box based at least in part on a first detection box parameter associated with the first pixel and a second detection box parameter associated with the second pixel;
and
controlling a vehicle based at least in part on the averaged detection box.

6 more elements

One or more computer-readable media storing instructions that, when executed by one or more processors, perform operations comprising:

receiving pixel data for a plurality of pixels associated with an object in an environment, wherein the pixel data comprises detection box parameters associated with individual pixels of the plurality of pixels;
identifying a subset of the plurality of pixels based at least in part on the pixel data;
generating, based at least in part on a detection box parameter, a cluster of pixels comprising a first pixel of the subset of the plurality of pixels and a second pixel of the subset of the plurality of pixels;
generating an averaged detection box based at least in part on a first detection box parameter associated with the first pixel and a second detection box parameter associated with the second pixel;
and
controlling a vehicle based at least in part on the averaged detection box.

3 more elements

Dependencies are inferred from the claim text.