US 12,293,541 B2
Using maps comprising covariances in multi-resolution voxels
Michael Carsten Bosse, Templeton, CA (US); Patrick Blaes, San Dimas, CA (US); Derek Adams, Pasadena, CA (US); and Brice Rebsamen, Aix-en-Provence (FR)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Aug. 29, 2022, as Appl. No. 17/897,491.
Application 17/897,491 is a continuation of application No. 16/722,771, filed on Dec. 20, 2019, granted, now 11,430,087.
Prior Publication US 2023/0024326 A1, Jan. 26, 2023
Int. Cl. G06T 7/73 (2017.01); G01C 21/30 (2006.01); G05D 1/00 (2006.01); G06F 18/2135 (2023.01); G06T 3/4084 (2024.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01)
CPC G06T 7/73 (2017.01) [G01C 21/30 (2013.01); G05D 1/021 (2013.01); G06F 18/2135 (2023.01); G06T 3/4084 (2013.01); G06T 7/74 (2017.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01); G06V 20/64 (2022.01); G06T 2207/30252 (2013.01)] 19 Claims
OG exemplary drawing
 
1. One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:
associating map data with a first space;
receiving sensor data from a sensor of a vehicle in an environment;
associating the sensor data with a second space;
determining, based at least in part on the first space and the second space, aggregated data;
determining a statistical value associated with a portion of the aggregated data, wherein the statistical value comprises a weighted covariance matrix associated with a voxel of the second space;
determining, based at least in part on the statistical value, a difference between the first space and the second space; and
determining a location of the vehicle in the environment based at least in part on the difference.