US 11,748,909 B2
Image-based depth data and localization
Praveen Srinivasan, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Aug. 9, 2021, as Appl. No. 17/397,006.
Application 17/397,006 is a continuation of application No. 16/408,407, filed on May 9, 2019, granted, now 11,087,494.
Prior Publication US 2022/0012916 A1, Jan. 13, 2022
Int. Cl. G06T 7/80 (2017.01); G06T 7/50 (2017.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G06V 20/58 (2022.01)
CPC G06T 7/80 (2017.01) [G01S 17/89 (2013.01); G01S 17/931 (2020.01); G06T 7/50 (2017.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
determining reference data of an environment;
determining image data from an image sensor associated with a vehicle;
inputting a portion of the image data to a machine-learned model;
receiving, from the machine-learned model and based at least in part on the portion of the image data, depth data associated with the environment; and
determining, based at least in part on comparing a portion of the depth data to a portion of the reference data, a location in the environment.