US 11,740,626 B2
Redundant pose generation system
Marcus Hammond, Mountain View, CA (US); and Timothy David Kentley-Klay, Stanford, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Nov. 9, 2020, as Appl. No. 17/93,316.
Application 17/093,316 is a continuation of application No. 15/806,001, filed on Nov. 7, 2017, granted, now 10,831,188.
Prior Publication US 2021/0109521 A1, Apr. 15, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01); G01C 21/00 (2006.01); B60W 30/00 (2006.01)
CPC G05D 1/0055 (2013.01) [B60W 30/00 (2013.01); G05D 1/0077 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0231 (2013.01); G05D 1/0268 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving sensor data associated with a vehicle;
determining, based at least in part on a first portion of the sensor data, a first pose of the vehicle;
determining, based at least in part on a second portion of the sensor data, a second pose of the vehicle, the second portion differing from the first portion;
determining a difference between the first pose and the second pose;
determining, based at least in part on the difference, a trajectory for the vehicle; and
controlling the vehicle to navigate in an environment according to the trajectory, wherein the trajectory is generated based on the second pose when determining that the difference meets or exceeds a threshold, or the trajectory is generated based on the first pose when determining that the difference does not meet the threshold.