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公开(公告)号：US20240319375A1
公开(公告)日：2024-09-26
申请号：US18189720
申请日：2023-03-24
Applicant: GM Cruise Holdings LLC
Inventor： Zhanping Xu , Kartheek Chandu , Glenn D. Sweeney , Brandon S. Seilhan , Robert Vets , Mateusz Monterial , Paul Carrington Foster
IPC: G01S17/894 , G06T7/20 , G06T7/50
CPC classification number: G01S17/894 , G06T7/20 , G06T7/50
Abstract: Systems and techniques are provided for predicting precision of time-of-flight (TOF) sensor measurements. An example process includes receiving depth data associated with a frame, the depth data being captured by a TOF camera by illuminating a modulated signal of the TOF camera and receiving a reflected signal at the TOF camera, wherein the depth data comprises a plurality of correlation samples based on the reflected signal; receiving, from the TOF camera, grayscale image data corresponding to the frame; determining a modulation amplitude of the modulated signal based on the plurality of correlation samples; determining one or more parameters associated with at least one of the depth data and the grayscale image data; and determining a reliability of the depth data based on the modulation amplitude of the modulated signal, the grayscale image data, and the one or more parameters.
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公开(公告)号：US11467287B2
公开(公告)日：2022-10-11
申请号：US16586080
申请日：2019-09-27
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
Abstract: An autonomous vehicle having a LIDAR system mounted thereon or incorporated therein is described. The LIDAR system has N channels, with each channel being a light emitter/light detector pair. A computing system identifies M channels that are to be active during a scan of the LIDAR system, wherein M is less than N. The computing system transmits a command signal to the LIDAR system, and the LIDAR system performs a scan with the M channels being active (and N-M channels being inactive). The LIDAR system constructs a point cloud based upon the scan, and the computing system controls the autonomous vehicle based upon the point cloud.
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公开(公告)号：US20210096260A1
公开(公告)日：2021-04-01
申请号：US16731871
申请日：2019-12-31
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
IPC: G01S17/931 , G01S17/89 , B60R1/00
Abstract: An autonomous vehicle having a LIDAR system that scans a field of view is described herein. With more specificity, a computing system of the autonomous vehicle defines a region of interest in the field of view for a scan of the field of view by the LIDAR system. The region of interest is a portion of the field of view. Based on the region of interest, the computing system transmits a control signal to the LIDAR system that causes the LIDAR system to emit first light pulses with a first intensity within the region of interest during the scan and second light pulses with a second intensity outside the region of interest during the scan. The first intensity is different from the second intensity to provide different ranges for distance measurements inside and outside the region of interest.
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公开(公告)号：US20240062383A1
公开(公告)日：2024-02-22
申请号：US17890173
申请日：2022-08-17
Applicant: GM Cruise Holdings LLC
Inventor： Zhanping Xu , Kartheek Chandu , Glenn D. Sweeney , Robert Vets
CPC classification number: G06T7/136 , G06T7/20 , G06V10/44 , G06T2207/30252 , G06V2201/07
Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for performing ground segmentation through formation of a single super voxel. Image data tracking a surface as an object moves relative to the surface is accessed. Samples of the image data is grouped into different subsets to form a plurality of subsets of the image data. A normal vector to a corresponding plane defined by each subset of the plurality of subsets of the image data are identified. The samples of the image data are re-grouped into a single subset of the image data based on the corresponding normal vector for each subset of the plurality of subsets of the image data. A surface plane representation of the surface is identified based on the single subset of the image data.
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公开(公告)号：US20220413152A1
公开(公告)日：2022-12-29
申请号：US17902788
申请日：2022-09-02
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
Abstract: An autonomous vehicle having a LIDAR system mounted thereon or incorporated therein is described. The LIDAR system has N channels, with each channel being a light emitter/light detector pair. A computing system identifies M channels that are to be active during a scan of the LIDAR system, wherein M is less than N. The computing system transmits a command signal to the LIDAR system, and the LIDAR system performs a scan with the M channels being active (and N−M channels being inactive). The LIDAR system constructs a point cloud based upon the scan, and the computing system controls the autonomous vehicle based upon the point cloud.
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Patent Agency Ranking
公开(公告)号：US20210096262A1
公开(公告)日：2021-04-01
申请号：US16586010
申请日：2019-09-27
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
Abstract: An autonomous vehicle having a LIDAR system that scans a field of view is described herein. With more specificity, a computing system of the autonomous vehicle defines a region of interest in the field of view for a scan of the field of view by the LIDAR system. The region of interest is a portion of the field of view. Based on the region of interest, the computing system transmits a control signal to the LIDAR system that causes the LIDAR system to emit first light pulses with a first intensity within the region of interest during the scan and second light pulses with a second intensity outside the region of interest during the scan. The first intensity is different from the second intensity to provide different ranges for distance measurements inside and outside the region of interest.
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公开(公告)号：US20210096254A1
公开(公告)日：2021-04-01
申请号：US16586080
申请日：2019-09-27
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
Abstract: An autonomous vehicle having a LIDAR system mounted thereon or incorporated therein is described. The LIDAR system has N channels, with each channel being a light emitter/light detector pair. A computing system identifies M channels that are to be active during a scan of the LIDAR system, wherein M is less than N. The computing system transmits a command signal to the LIDAR system, and the LIDAR system performs a scan with the M channels being active (and N-M channels being inactive). The LIDAR system constructs a point cloud based upon the scan, and the computing system controls the autonomous vehicle based upon the point cloud.
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公开(公告)号：US20240062405A1
公开(公告)日：2024-02-22
申请号：US17890124
申请日：2022-08-17
Applicant: GM Cruise Holdings LLC
Inventor： Zhanping Xu , Kartheek Chandu , Glenn D. Sweeney , Robert Vets
CPC classification number: G06T7/70 , G06T7/20 , G06T2207/30252 , G06T2207/10028 , B60W60/00
Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for identifying roll, pitch, and azimuth angles for an object based on surface normal vectors. Image data tracking a surface as an object moves relative to the surface can be accessed. A reference normal vector of the surface can be identified. A dynamic normal vector of the surface associated with the object moving over the surface can be identified from the image data. One or a combination of roll, pitch, and azimuth of the object with respect to the surface can be determined based on the reference normal vector and the dynamic normal vector.
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公开(公告)号：US20230194726A1
公开(公告)日：2023-06-22
申请号：US18108877
申请日：2023-02-13
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
IPC: G01S17/931 , B60R1/00 , G01S17/89
CPC classification number: G01S17/931 , B60R1/00 , G01S17/89 , B60R2300/102 , B60R2300/301
Abstract: An autonomous vehicle having a LIDAR system that scans a field of view is described herein. With more specificity, a computing system of the autonomous vehicle defines a region of interest in the field of view for a scan of the field of view by the LIDAR system. The region of interest is a portion of the field of view. Based on the region of interest, the computing system transmits a control signal to the LIDAR system that causes the LIDAR system to emit first light pulses with a first intensity within the region of interest during the scan and second light pulses with a second intensity outside the region of interest during the scan. The first intensity is different from the second intensity to provide different ranges for distance measurements inside and outside the region of interest.
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公开(公告)号：US11579306B2
公开(公告)日：2023-02-14
申请号：US16731871
申请日：2019-12-31
Applicant: GM Cruise Holdings LLC
Inventor： Robert Vets
IPC: G01S17/931 , B60R1/00 , G01S17/89
Abstract: An autonomous vehicle having a LIDAR system that scans a field of view is described herein. With more specificity, a computing system of the autonomous vehicle defines a region of interest in the field of view for a scan of the field of view by the LIDAR system. The region of interest is a portion of the field of view. Based on the region of interest, the computing system transmits a control signal to the LIDAR system that causes the LIDAR system to emit first light pulses with a first intensity within the region of interest during the scan and second light pulses with a second intensity outside the region of interest during the scan. The first intensity is different from the second intensity to provide different ranges for distance measurements inside and outside the region of interest.
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