US 11,954,877 B2
Depth dependent pixel filtering
Subasingha Shaminda Subasingha, San Ramon, CA (US); Yongzhe Chen, San Jose, CA (US); Mehran Ferdowsi, San Mateo, CA (US); Samuel Holladay, San Francisco, CA (US); Turhan Karadeniz, Oakland, CA (US); Robert Nicholas Moor, San Mateo, CA (US); Joseph Patrick Warga, San Francisco, CA (US); Harrison Thomas Waschura, Los Altos Hills, CA (US); and Silas Kogure Wilkinson, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 8, 2020, as Appl. No. 17/115,320.
Prior Publication US 2022/0180539 A1, Jun. 9, 2022
Int. Cl. G06T 7/521 (2017.01); B60W 60/00 (2020.01); G01B 11/22 (2006.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01)
CPC G06T 7/521 (2017.01) [B60W 60/00272 (2020.02); G01B 11/22 (2013.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); G06T 2207/10028 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a time-of-flight sensor configured to generate data based on light received at a receiver of the time-of-flight sensor;
one or more processors; and
memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to perform operations comprising:
receiving first sensor data from the time-of-flight sensor, the first sensor data comprising first depth information and first intensity information for a plurality of pixels generated with the time-of-flight sensor in a first configuration having a first modulation frequency;
receiving second sensor data from the time-of-flight sensor, the second sensor data comprising second depth information and second intensity information for the plurality of pixels generated with the time-of-flight sensor in a second configuration having a second modulation frequency higher than the first modulation frequency;
determining, based at least in part on the first depth information and the second depth information, a pixel of the plurality of pixels having a first depth that is greater than a nominal maximum depth of the time-of-flight sensor in the first configuration;
determining, based on the first sensor data and the second sensor data, additional pixels of the plurality of pixels having the first depth, the pixel and the additional pixels comprising a first subset of the plurality of pixels;
comparing at least one of the first intensity information or the second intensity information for the first subset of the plurality of pixels to a first threshold intensity and at least one of the first intensity information or the second intensity information for a second subset of the plurality of pixels to a second threshold intensity, the second subset of the plurality of pixels having a second depth different from the first depth; and
generating filtered data based at least in part on the comparing, the filtered data comprising at least one of one or more of the pixels of the first subset of the plurality of pixels having an intensity greater than the first threshold intensity or one or more of the pixels of the second subset of the plurality of pixels having an intensity greater than the second threshold intensity.