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    Pedestrian attribute and gesture detection
    1.
    发明授权
    Pedestrian attribute and gesture detection 有权

    公开(公告)号：US12236705B1

    公开(公告)日：2025-02-25

    申请号：US17320678

    申请日：2021-05-14

    Applicant: Zoox, Inc.

    Inventor： Oytun Ulutan ,  Xin Wang ,  Kratarth Goel ,  Vasiliy Karasev ,  Sarah Tariq ,  Yi Xu

    IPC: G06K9/00 ,  G01S13/89 ,  G01S17/89 ,  G05D1/00 ,  G06N5/04 ,  G06N20/00 ,  G06V10/22 ,  G06V20/56 ,  G06V40/10

    Abstract: Techniques for detecting attributes and/or gestures associated with pedestrians in an environment are described herein. The techniques may include receiving sensor data associated with a pedestrian in an environment of a vehicle and inputting the sensor data into a machine-learned model that is configured to determine a gesture and/or an attribute of the pedestrian. Based on the input data, an output may be received from the machine-learned model that indicates the gesture and/or the attribute of the pedestrian and the vehicle may be controlled based at least in part on the gesture and/or the attribute of the pedestrian. The techniques may also include training the machine-learned model to detect the attribute and/or the gesture of the pedestrian.

    Map consistency checker
    2.
    发明授权
    Map consistency checker 有权

    公开(公告)号：US11472442B2

    公开(公告)日：2022-10-18

    申请号：US16856826

    申请日：2020-04-23

    Applicant: Zoox, Inc.

    Inventor： Pengfei Duan ,  James William Vaisey Philbin ,  Cooper Stokes Sloan ,  Sarah Tariq ,  Feng Tian ,  Chuang Wang ,  Kai Zhenyu Wang ,  Yi Xu

    IPC: B60W60/00 ,  G01S17/86 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02

    Abstract: Techniques relating to monitoring map consistency are described. In an example, a monitoring component associated with a vehicle can receive sensor data associated with an environment in which the vehicle is positioned. The monitoring component can generate, based at least in part on the sensor data, an estimated map of the environment, wherein the estimated map is encoded with policy information for driving within the environment. The monitoring component can then compare first information associated with a stored map of the environment with second information associated with the estimated map to determine whether the estimated map and the stored map are consistent. Component(s) associated with the vehicle can then control the object based at least in part on results of the comparing.

    MAP CONSISTENCY CHECKER
    3.
    发明申请
    MAP CONSISTENCY CHECKER 有权

    公开(公告)号：US20210331703A1

    公开(公告)日：2021-10-28

    申请号：US16856826

    申请日：2020-04-23

    Applicant: Zoox, Inc.

    Inventor： Pengfei Duan ,  James William Vaisey Philbin ,  Cooper Stokes Sloan ,  Sarah Tariq ,  Feng Tian ,  Chuang Wang ,  Kai Zhenyu Wang ,  Yi Xu

    IPC: B60W60/00 ,  G01S17/86 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02

    Abstract: Techniques relating to monitoring map consistency are described. In an example, a monitoring component associated with a vehicle can receive sensor data associated with an environment in which the vehicle is positioned. The monitoring component can generate, based at least in part on the sensor data, an estimated map of the environment, wherein the estimated map is encoded with policy information for driving within the environment. The monitoring component can then compare first information associated with a stored map of the environment with second information associated with the estimated map to determine whether the estimated map and the stored map are consistent. Component(s) associated with the vehicle can then control the object based at least in part on results of the comparing.

    Vehicle door state detection
    4.
    发明授权
    Vehicle door state detection 有权

    公开(公告)号：US12233907B1

    公开(公告)日：2025-02-25

    申请号：US17320630

    申请日：2021-05-14

    Applicant: Zoox, Inc.

    Inventor： Xin Wang ,  Yi Xu

    IPC: B60W60/00 ,  B60W30/09 ,  G06N20/00 ,  G06V20/56

    Abstract: Techniques for detecting door states associated with vehicles in an environment are described herein. The techniques may include receiving sensor data associated with a first vehicle in an environment and inputting the sensor data into a machine-learned model that is configured to determine a state of a door of the first vehicle. Based on the input data, an output may be received from the machine-learned model that indicates the state of the door of the first vehicle. Based on the state of the door of the first vehicle, a trajectory of a second vehicle may be controlled. The techniques may also include training the machine-learned model to detect door states of vehicles.

    SENSOR DEGRADATION DETECTION AND REMEDIATION
    8.
    发明申请
    SENSOR DEGRADATION DETECTION AND REMEDIATION 有权

    公开(公告)号：US20210201464A1

    公开(公告)日：2021-07-01

    申请号：US16728532

    申请日：2019-12-27

    Applicant: Zoox, Inc.

    Inventor： Sarah Tariq ,  James William Vaisey Philbin ,  Yi Xu

    IPC: G06T7/00 ,  G05D1/02

    Abstract: A sensor degradation detection and remediation system includes one or more sensors configured to collect image data from an environment. A combination of techniques may be used to detect degradations within regions of the image data captured by a sensor, including one or more of determining a level of the visual consistency between the associated image regions captured by different sensors, determining a level of opaqueness of the image regions, and/or measuring temporal movement of the image regions captured by a sensor over a period of time. Operations of a vehicle or other system may be controlled based at least in part on the detection of degradations of the image data captured by the sensors, including automated cleaning of a sensor surface, reducing a level of reliance on the image data received from the sensor, and/or changing a direction of travel of the vehicle.

    MAP CONSISTENCY CHECKER
    9.
    发明申请
    MAP CONSISTENCY CHECKER 有权

    公开(公告)号：US20230100014A1

    公开(公告)日：2023-03-30

    申请号：US17966037

    申请日：2022-10-14

    Applicant: Zoox, Inc.

    Inventor： Pengfei Duan ,  James William Vaisey Philbin ,  Cooper Stokes Sloan ,  Sarah Tariq ,  Feng Tian ,  Chuang Wang ,  Kai Zhenyu Wang ,  Yi Xu

    IPC: B60W60/00 ,  G01S17/86 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02

    Abstract: Techniques relating to monitoring map consistency are described. In an example, a monitoring component associated with a vehicle can receive sensor data associated with an environment in which the vehicle is positioned. The monitoring component can generate, based at least in part on the sensor data, an estimated map of the environment, wherein the estimated map is encoded with policy information for driving within the environment. The monitoring component can then compare first information associated with a stored map of the environment with second information associated with the estimated map to determine whether the estimated map and the stored map are consistent. Component(s) associated with the vehicle can then control the object based at least in part on results of the comparing.

    Sensor degradation detection and remediation
    10.
    发明授权
    Sensor degradation detection and remediation 有权

    公开(公告)号：US11120538B2

    公开(公告)日：2021-09-14

    申请号：US16728532

    申请日：2019-12-27

    Applicant: Zoox, Inc.

    Inventor： Sarah Tariq ,  James William Vaisey Philbin ,  Yi Xu

    IPC: G06T7/00 ,  G05D1/02 ,  B60W50/02 ,  B60W50/029 ,  B60S1/56

    Abstract: A sensor degradation detection and remediation system includes one or more sensors configured to collect image data from an environment. A combination of techniques may be used to detect degradations within regions of the image data captured by a sensor, including one or more of determining a level of the visual consistency between the associated image regions captured by different sensors, determining a level of opaqueness of the image regions, and/or measuring temporal movement of the image regions captured by a sensor over a period of time. Operations of a vehicle or other system may be controlled based at least in part on the detection of degradations of the image data captured by the sensors, including automated cleaning of a sensor surface, reducing a level of reliance on the image data received from the sensor, and/or changing a direction of travel of the vehicle.

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