US 11,816,852 B2
Associating LIDAR data and image data
Tencia Lee, San Francisco, CA (US); Sabeek Mani Pradhan, Redwood City, CA (US); and Dragomir Dimitrov Anguelov, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jul. 27, 2020, as Appl. No. 16/940,216.
Application 16/940,216 is a continuation of application No. 15/970,838, filed on May 3, 2018, granted, now 10,726,567.
Prior Publication US 2021/0104056 A1, Apr. 8, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/521 (2017.01); G06T 7/11 (2017.01); G06T 7/77 (2017.01); G06N 20/00 (2019.01); G05D 1/02 (2020.01); G01S 17/931 (2020.01)
CPC G06T 7/521 (2017.01) [G01S 17/931 (2020.01); G05D 1/024 (2013.01); G05D 1/0212 (2013.01); G06N 20/00 (2019.01); G06T 7/11 (2017.01); G06T 7/77 (2017.01); G06T 2207/20081 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving LIDAR data and image data associated with an environment;
determining, based at least in part on the image data, a region of interest identifying a portion of the image data as being associated with an object in the environment;
generating scores for LIDAR points associated with the region of interest, wherein generating a first score of the scores for a corresponding first LIDAR point is based, at least in part, on a distance from a first point in the image data within the region of interest to a second point in the image data associated with a projection of the first LIDAR point into the image data, and wherein the first score is non-binary;
determining, based at least in part on the scores, a weighted median of the LIDAR points; and
determining, based at least in part on the weighted median, a first depth estimate associated with a distance from a sensor to the object.