US 2015/0310281 A1 · Methods and Systems for Object Detection using Multiple Sensors

Abstract

Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.

Claims20

Dependent claims

A method comprising:

receiving, at a computing system from a first sensor at a first rate, first sensor data corresponding to an environment of a vehicle;
receiving, at the computing system from a second sensor at a second rate, second sensor data corresponding to the environment;
determining, using a first data segment of the first sensor data and a portion of a first data segment of the second sensor data that correspond to the environment at a first time period, information corresponding to one or more objects in the environment;
modifying, using a second data segment of the first sensor data and a subsequent portion of the first data segment of the second sensor data that correspond to the environment at a second time period, the information corresponding to the one or more objects;
and
providing, by the computing system, the modified information corresponding to the one or more objects to one or more systems of the vehicle.

3 more elements

A system comprising:

at least one processor;
and
a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising:
receiving, from a first sensor at a first rate, first sensor data corresponding to an environment of a vehicle;
receiving, from a second sensor at a second rate, second sensor data corresponding to the environment;
determining, using a first data segment of the first sensor data and a portion of a first data segment of the second sensor data that correspond to the environment at a first time period, information corresponding to one or more objects in the environment;
modifying, using a second data segment of the first sensor data and a subsequent portion of the first data segment of the second sensor data that correspond to the environment at a second time period, the information corresponding to the one or more objects;
and
providing the modified information corresponding to the one or more objects to one or more systems of the vehicle.

6 more elements

Dependencies are inferred from the claim text.

Methods and Systems for Object Detection using Multiple Sensors

Life of this patent

Methods and Systems for Object Detection using Multiple Sensors

Life of this patent

Abstract

Claims20