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    Techniques for identifying curbs
    55.
    发明授权
    Techniques for identifying curbs 有权

    公开(公告)号：US11810370B2

    公开(公告)日：2023-11-07

    申请号：US17364078

    申请日：2021-06-30

    申请人： Zoox, Inc.

    发明人： David Pfeiffer ,  Zeng Wang ,  Qiang Zhai

    IPC分类号： G06V20/56 ,  G01S17/10 ,  G01S7/48 ,  B60W50/14 ,  G01S17/86

    CPC分类号： G06V20/588 ,  B60W50/14 ,  G01S7/4808 ,  G01S17/10 ,  G01S17/86 ,  B60W2420/42 ,  B60W2420/52

    摘要： Techniques for identifying curbs are discussed herein. For instance, a vehicle may generate sensor data using one or more sensors, where the sensor data represents points associated with a driving surface and a sidewalk. The vehicle may then quantize the points into distance bins that are located laterally along the driving direction of the vehicle in order to generate spatial lines. Next, the vehicle may determine separation points for the spatial lines, where the separation points are configured to separate the points associated with the driving surface from the points associated with the sidewalk. The vehicle may then generate, using the separation points, a curve that represents the curb between the driving surface and the sidewalk. This way, the vehicle may use the curve while navigating, such as to avoid the curb and/or stop at a location that is proximate to the curb.

    Calibration of lidar angular offset through a dynamic environment
    58.
    发明授权
    Calibration of lidar angular offset through a dynamic environment 有权

    公开(公告)号：US11802947B1

    公开(公告)日：2023-10-31

    申请号：US16899415

    申请日：2020-06-11

    申请人： Amazon Technologies, Inc.

    发明人： Nathaniel Pohl

    IPC分类号： G01S7/497 ,  G01S17/86 ,  G01S17/42

    CPC分类号： G01S7/4972 ,  G01S17/42 ,  G01S17/86

    摘要： Embodiments herein describe using a moveable component on a vehicle to calibrate a sensor (e.g., a LIDAR sensor). While a LIDAR sensor can be calibrated using a specially designed configuration component mounted on a vehicle, this increases the cost of manufacturing the vehicle and complexity for identifying a suitable location for the calibration component. Rather than adding a new component, embodiments herein use a moveable component already part of the design of the vehicle as a calibration component. That is, the embodiments herein use components that are primarily used for a different purpose to also perform LIDAR calibration, such as a wheel or a robotic arm.

    LIDAR POINT CLOUD DATA ALIGNMENT WITH CAMERA PIXELS
    59.
    发明公开
    LIDAR POINT CLOUD DATA ALIGNMENT WITH CAMERA PIXELS 审中-公开

    公开(公告)号：US20230333253A1

    公开(公告)日：2023-10-19

    申请号：US18295650

    申请日：2023-04-04

    申请人： Avanti R&D, Inc.

    发明人： Dustin Gyurina ,  Go Yuasa

    IPC分类号： G01S17/894 ,  G01S17/86 ,  G06T7/80

    CPC分类号： G01S17/894 ,  G01S17/86 ,  G06T7/80 ,  G06T2207/10028

    摘要： A computer vision apparatus for detecting an object within a surrounding environment comprises an optical camera sensor, a lidar sensor, a first buffer memory, a second buffer memory and a CPU, wherein the computer programs comprise the steps of capturing image data of the object via the optical camera sensor, storing the captured image data into the first buffer memory, scanning the object using the lidar sensor, storing scanned point cloud data into the second buffer memory, identifying a moving object, assigning an identification code (ID) to the moving object, obtaining information including the ID, position, speed, and time stamp when the moving object passes a certain point in a camera view; and matching an incoming moving blob corresponding to the moving object using the information received by the camera sensor when the incoming moving blob passes a certain point in a lidar view.

    Target unit
    60.
    发明授权
    Target unit 有权

    公开(公告)号：US11789151B2

    公开(公告)日：2023-10-17

    申请号：US17985555

    申请日：2022-11-11

    申请人： TOPCON CORPORATION

    发明人： Satoshi Yasutomi ,  Takahiro Komeichi ,  Tadayuki Ito

    IPC分类号： G01S17/86 ,  G01C3/08 ,  G01S17/42

    CPC分类号： G01S17/86 ,  G01C3/08 ,  G01S17/42

    摘要： A surveying system includes a target unit having a reflection target and an encoder pattern showing an angle of the target unit; a scanner configured to acquire three-dimensional point cloud data, measured coordinates of the target, and optically read the encoder pattern to acquire an encoder pattern read angle; and a leveling base configured to selectively allow either of the target unit and the scanner to be removably mounted. The scanner calculates a direction angle of the leveling base based on the encoder pattern read angle and the offset angle of the target unit, calculates coordinates of an installation point of the target unit based on the measured coordinates of the target and the direction angle of the target, and calculates a direction angle of the scanner based on the offset angle of the scanner and the direction angle of the leveling base on which the scanner is mounted.