US 12,406,506 B2
Articulated object determination
Adrian Michael Costantino, Foster City, CA (US); Subhasis Das, San Mateo, CA (US); and Francesco Papi, Oakland, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Apr. 30, 2024, as Appl. No. 18/651,548.
Application 18/651,548 is a continuation of application No. 17/491,301, filed on Sep. 30, 2021, granted, now 12,039,784.
Prior Publication US 2024/0282115 A1, Aug. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/56 (2022.01); G06V 20/17 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01)
CPC G06V 20/56 (2022.01) [G06V 20/17 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data from a sensor associated with a vehicle in an environment;
determining, based at least in part on the sensor data, a first representation of a first object in the environment and a second representation of a second object in the environment;
applying, by a model, one or more heuristics to the first representation and to the second representation; and
joining, by the model and based at least in part on the applying, the first object and the second object as an articulated object, wherein joining the first representation of the first object and the second representation of the second object as the articulated object is further based at least in part on a control policy comprising information identifying a right of way or a rule of an intersection associated with the first object and the second object in the environment.