公开(公告)号：US20240094029A1

公开(公告)日：2024-03-21

申请号：US17804744

申请日：2022-05-31

申请人： Zoox, Inc.

发明人： Hirotatsu Armstrong ,  Patrick Blaes ,  Michael Carsten Bosse ,  Jeffrey Eric Tolliver

IPC分类号： G01C21/00 ,  B60W60/00 ,  G06T7/00 ,  G06T7/33

CPC分类号： G01C21/3867 ,  B60W60/00 ,  G01C21/3807 ,  G06T7/0002 ,  G06T7/33

摘要： Techniques for representing a scene or map based on statistical data of captured environmental data are discussed herein. In some cases, the data (such as covariance data, mean data, or the like) may be stored as a multi-resolution voxel space that includes a plurality of semantic layers. In some instances, individual semantic layers may include multiple voxel grids having differing resolutions. Multiple multi-resolution voxel spaces may be merged or aligned to generate combined scenes based on detected voxel covariances at one or more resolutions.