公开(公告)号：US20210256718A1

公开(公告)日：2021-08-19

申请号：US16795129

申请日：2020-02-19

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Sarthak Sahu ,  Nathan Harada ,  Phil Ferriere

IPC: G06T7/50 ,  G06T15/08 ,  G06K9/00

Abstract: Distance measurements are received from one or more distance measurement sensors, which may be coupled to a vehicle. A three-dimensional (3D) point cloud are generated based on the distance measurements. In some cases, 3D point clouds corresponding to distance measurements from different distance measurement sensors may be combined into one 3D point cloud. A voxelized model is generated based on the 3D point cloud. An object may be detected within the voxelized model, and in some cases may be classified by object type. If the distance measurement sensors are coupled to a vehicle, the vehicle may avoid the detected object.

公开(公告)号：US20240161511A1

公开(公告)日：2024-05-16

申请号：US17984655

申请日：2022-11-10

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Cornelis Jacob Lekkerkerker ,  Pulkit Budhiraja ,  Victor Oliveira ,  Zachary Witte

IPC: G06V20/58 ,  B60W60/00 ,  G01S17/89

CPC classification number: G06V20/58 ,  B60W60/001 ,  G01S17/89 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2554/4041 ,  B60W2554/4048 ,  B60W2554/4049

Abstract: Systems and techniques are provided for processing data from an optical sensor. An example method includes obtaining, from an optical sensor configured to rotate about an axis, sensor data; generating, based on the sensor data, slices of sensor data, each slice having a field-of-coverage (FOC) that is less than 360 degrees, wherein a slice size is determined based on a rate for publishing a combination of slices that yields 360 degrees of coverage within a threshold period, a number and size of slices estimated to yield a combined FOC of 360 degrees while achieving a desired reduction in a resources contention by consumer nodes, and/or a field-of-view (FOV) of a camera device; and providing, to the consumer nodes, a partial optical sensor scan comprising the slices of sensor data, the partial optical sensor scan being provided prior to obtaining a revolution of sensor data having a 360 degrees of coverage.

公开(公告)号：US11754719B2

公开(公告)日：2023-09-12

申请号：US17389907

申请日：2021-07-30

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Sarthak Sahu ,  Nathan Harada ,  Phil Ferriere

IPC: G01S17/894 ,  G06T7/50 ,  G06T15/08 ,  G06V20/58 ,  G06V10/80 ,  G06V10/82 ,  G06V10/44 ,  G01S15/89 ,  G01S13/89 ,  G01S17/89

CPC classification number: G01S17/894 ,  G06T7/50 ,  G06T15/08 ,  G06V10/454 ,  G06V10/803 ,  G06V10/82 ,  G06V20/58 ,  G01S13/89 ,  G01S15/89 ,  G01S17/89 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Distance measurements are received from one or more distance measurement sensors, which may be coupled to a vehicle. A three-dimensional (3D) point cloud are generated based on the distance measurements. In some cases, 3D point clouds corresponding to distance measurements from different distance measurement sensors may be combined into one 3D point cloud. A voxelized model is generated based on the 3D point cloud. An object may be detected within the voxelized model, and in some cases may be classified by object type. If the distance measurement sensors are coupled to a vehicle, the vehicle may avoid the detected object.

公开(公告)号：US20230251384A1

公开(公告)日：2023-08-10

申请号：US17668229

申请日：2022-02-09

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi

IPC: G01S17/931 ,  G01S17/89 ,  G01S7/48 ,  G06N20/00

CPC classification number: G01S17/931 ,  G01S17/89 ,  G01S7/4802 ,  G06N20/00

Abstract: The present technology is directed to generating augmented data that are used for training a machine-learning (ML) algorithm to recognize objects under different weather conditions. The present technology may include receiving, by one or more processors, data of an environment including objects in a first geographical location. The data of the environment may be received from sensors on a vehicle moving on a road under a first weather condition. The present technology may also include receiving reference data that represent a second weather condition. The second weather condition may include a precipitation type. The present technology may also include generating augmented data including a subset of the reference data superimposed on the data of the environment. The augmented data simulates the environment under the second weather condition to simulate the environment under the second weather condition. The present technology may include providing the augmented data to an ML algorithm for training the ML algorithm to recognize the objects in the environment under the second weather condition.

公开(公告)号：US20230215134A1

公开(公告)日：2023-07-06

申请号：US17568455

申请日：2022-01-04

Applicant: GM CRUISE HOLDINGS LLC

Inventor： Siddhartho Bhattacharya ,  Craig Quiter ,  Mayank Ketkar ,  Wanlin Yang ,  Sandeep Gangundi ,  Raluca Musaloiu-Elefteri

IPC: G06V10/74 ,  G01S17/86 ,  G06F7/02

CPC classification number: G06V10/761 ,  G01S17/86 ,  G06F7/023

Abstract: The disclosed technology provides solutions for finding samples from image data that are similar to failure cases, by constructing N-dimensional vectors of the failure cases. The vectors of failure cases are compared to other image data, with the objective of identifying groups of images that can be labeled. The labeled images are then used to retrain a model. Systems and machine-readable media are also provided.

公开(公告)号：US20230202489A1

公开(公告)日：2023-06-29

申请号：US17562317

申请日：2021-12-27

Applicant: GM Cruise Holdings LLC

Inventor： Zachary Witte ,  Sandeep Gangundi ,  Abdelrahman Elogeel

IPC: B60W50/00 ,  G05B13/02 ,  G06F8/65

CPC classification number: B60W50/00 ,  G05B13/0265 ,  G06F8/65 ,  B60W2050/0083

Abstract: The subject disclosure relates to techniques for managing the configuration of vehicles. A process of the disclosed technology can include steps of receiving a first vehicle identifier for a first vehicle, wherein the first vehicle is associated with a first vehicle platform, identifying a first configuration for the first vehicle platform based on the first vehicle identifier, receiving a second vehicle identifier for a second vehicle, wherein the second vehicle is associated with a second vehicle platform, and wherein the first vehicle platform is different from the second vehicle platform, and identifying a second configuration for the second vehicle platform based on the second vehicle identifier, wherein the first vehicle and the second vehicle run on an identical software stack. Systems and machine-readable media are also provided.

公开(公告)号：US20250060459A1

公开(公告)日：2025-02-20

申请号：US18450693

申请日：2023-08-16

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi

IPC: G01S7/4861 ,  G01S17/42

Abstract: The present disclosure generally relates to techniques to increase the functional frequency of a LIDAR sensor of an autonomous vehicle without increasing the physical frequency. In some aspects, a method of the disclosed technology includes steps for collecting, using a LIDAR sensor of an autonomous vehicle (AV), first sensor data during a first portion of a scan performed by the LIDAR sensor; collecting, using the LIDAR sensor of the autonomous vehicle, second sensor data during a second portion of the scan performed by the LIDAR sensor, the first sensor data and the second sensor data measuring different portions of a scene; skipping collection of additional sensor data during a third portion of the scan performed by the LIDAR sensor; and estimating the additional sensor data based on a field-of-view (FOV) of the LIDAR sensor during the third portion of the scan. Systems and machine-readable media are also provided.

公开(公告)号：US11726188B2

公开(公告)日：2023-08-15

申请号：US16855478

申请日：2020-04-22

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Avinash Nair ,  Abdelrahman Elogeel ,  Kyle Vogt ,  Cornelis Jacob Lekkerkerker

IPC: G01S7/487 ,  G01S17/931 ,  G06F30/15 ,  G01S7/48 ,  G01S7/493

CPC classification number: G01S7/4876 ,  G01S7/4802 ,  G01S7/493 ,  G01S17/931 ,  G06F30/15

Abstract: The subject disclosure relates to ways to identify self-hit data collected by autonomous vehicle (AV) sensors. In some aspects, a method of the disclosed technology includes steps for generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space, collecting sensor data for an environment around the AV, and identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV. Systems and machine-readable media are also provided.