US 11,810,370 B2
Techniques for identifying curbs
David Pfeiffer, Foster City, CA (US); Zeng Wang, Menlo Park, CA (US); and Qiang Zhai, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 30, 2021, as Appl. No. 17/364,078.
Prior Publication US 2023/0004744 A1, Jan. 5, 2023
Int. Cl. G06V 20/56 (2022.01); G01S 17/10 (2020.01); G01S 7/48 (2006.01); B60W 50/14 (2020.01); G01S 17/86 (2020.01)
CPC G06V 20/588 (2022.01) [B60W 50/14 (2013.01); G01S 7/4808 (2013.01); G01S 17/10 (2013.01); G01S 17/86 (2020.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving sensor data from a sensor associated with a vehicle, the sensor data representing a first point associated with a drivable surface and a second point associated with a non-drivable surface at a different height than the drivable surface;
determining, based on the sensor data, a first surface line representing the drivable surface and a second surface line representing the non-drivable surface;
determining, based on the first surface line and the second surface line, a separation point between the first surface line and the second surface line, wherein the separation point comprises a boundary between the drivable surface and the non-drivable surface; and
controlling the vehicle based at least in part on the separation point.