US 12,345,821 B2
Method for predicting behavior of object e as an autonomous vehicles, determining afggregated data based on first and second lidars data and transfer function
Arthur Daniel Costea, San Mateo, CA (US); David Pfeiffer, Foster City, CA (US); Zeng Wang, Foster City, CA (US); and Allan Zelener, San Mateo, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Sep. 24, 2021, as Appl. No. 17/484,169.
Prior Publication US 2023/0095410 A1, Mar. 30, 2023
Int. Cl. G01S 17/931 (2020.01); G01B 21/16 (2006.01); G01S 7/4863 (2020.01); G01S 17/06 (2006.01); G06N 20/00 (2019.01); G01B 11/02 (2006.01); G06F 16/783 (2019.01)
CPC G01S 17/931 (2020.01) [G01B 21/16 (2013.01); G01S 7/4863 (2013.01); G01S 17/06 (2013.01); G06N 20/00 (2019.01); G01B 11/026 (2013.01); G06F 16/786 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
receiving first lidar data representing a physical environment at a first time, the first lidar data associated with a first position;
receiving second lidar data representing the physical environment at a second time after the first time, the second lidar data associated with a second position;
determining, based on the first lidar data, first top-down data including a first minimum height value associated with a portion of the first lidar data and a first maximum height value associated with the portion of the first portion of the first lidar data;
determining based on the second lidar data, second top-down data including representing a second minimum height value associated with a portion of the second lidar data and representing a second maximum height value associated with the portion of the second lidar data;
aligning the first top-down data with the second top-down data such that the portion of the first lidar data aligns with the portion of the second lidar data;
determining, based on the alignment, aggregated top-down data wherein the aggregated top-down data includes a multichannel top down representation of the physical environment, a first channel of the multichannel top down representation including absolute minimum height values and a second channel of the multichannel top down representation including maximum height values;
determining, based at least in part on the aggregated top-down data, object data associated with an object in the physical environment; and
performing, based at least in part on the object data, an operation associated with an autonomous vehicle.