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US 12,345,821 B2Granted
Method for predicting behavior of object e as an autonomous vehicles, determining afggregated data based on first and second lidars data and transfer function
AssigneeZoox, Inc.
InventorsArthur Daniel Costea, David Pfeiffer, Zeng Wang, Allan Zelener
Life of this patent
Estimating the term…
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.
Claims20
A system comprising:
- one or more processors;
- and
- one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
- receiving first lidar data representing a physical environment at a first time, the first lidar data associated with a first position;
- receiving second lidar data representing the physical environment at a second time after the first time, the second lidar data associated with a second position;
- determining, based on the first lidar data, first top-down data including a first minimum height value associated with a portion of the first lidar data and a first maximum height value associated with the portion of the first portion of the first lidar data;
- determining based on the second lidar data, second top-down data including representing a second minimum height value associated with a portion of the second lidar data and representing a second maximum height value associated with the portion of the second lidar data;
- aligning the first top-down data with the second top-down data such that the portion of the first lidar data aligns with the portion of the second lidar data;
- determining, based on the alignment, aggregated top-down data wherein the aggregated top-down data includes a multichannel top down representation of the physical environment, a first channel of the multichannel top down representation including absolute minimum height values and a second channel of the multichannel top down representation including maximum height values;
- determining, based at least in part on the aggregated top-down data, object data associated with an object in the physical environment;
- and
- performing, based at least in part on the object data, an operation associated with an autonomous vehicle.
9 more elements
A method comprising:
- receiving first lidar data representing a physical environment at a first time;
- receiving second lidar data representing the physical environment at a second time;
- determining, based at least in part on a first location associated with the first lidar data and a second location associated with the second lidar data, a transfer function;
- determining, based at least in part on the first lidar data, the second lidar data, and the transfer function, aggregated data representing the physical environment, wherein a first channel of the aggregated data represents a first height value for a portion represented in the first lidar data and the second lidar data and a second channel of the aggregated data represents a second height value for the portion;
- and
- determining, based at least in part on the aggregated data, object data associated with an object in the physical environment.
3 more elements
One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:
- receiving first lidar data representing a physical environment at a first time;
- receiving second lidar data representing the physical environment at a second time, the second time subsequent to the first time;
- determining, based at least in part on a first location associated with the first lidar data and a second location associated with the second lidar data, a transfer function;
- determining, based at least in part on the first lidar data, the second lidar data, and the transfer function, aggregated data representing the physical environment, wherein a first channel of the aggregated data represents a first height value for a portion represented in the first lidar data and the second lidar data and a second channel of the aggregated data represents a second height value for the portion;
- and
- determining, based at least in part on the aggregated top-down data, object data associated with an object in the physical environment.
3 more elements
Dependencies are inferred from the claim text.