US 12,258,040 B2
System for generating scene context data using a reference graph
Gowtham Garimella, Hayward, CA (US); Gary Linscott, Seattle, WA (US); and Ethan Miller Pronovost, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 30, 2022, as Appl. No. 17/854,849.
Prior Publication US 2024/0001958 A1, Jan. 4, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); B60W 2554/4041 (2020.02); B60W 2556/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data associated with a physical environment surrounding an autonomous vehicle;
receiving a reference graph associated with the physical environment, the reference graph comprising a plurality of nodes, individual nodes of the plurality of nodes comprising a respective feature vector representative of object data;
determining, based at least in part on the sensor data, a state of an object within the physical environment;
determining, based at least in part on the state of the object and the reference graph, a number of nodes of the plurality of nodes;
generating, based at least in part on feature vectors of the number of nodes, scene context data associated with the physical environment, wherein the feature vectors of the reference graph are computed prior to receiving the reference graph and prior to receiving the sensor data; and
controlling the autonomous vehicle based at least in part on the scene context data.