US 12,409,852 B2
Object detection using similarity determinations for sensor observations
Francesco Papi, Oakland, CA (US); Qian Song, San Mateo, CA (US); John Bryan Carter, Upton, MA (US); Shuangting Liu, Foster City, CA (US); Zachary Sun, San Francisco, CA (US); Cong Ding, San Jose, CA (US); and Murat Gevrekci, Mountain View, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jan. 31, 2023, as Appl. No. 18/103,936.
Prior Publication US 2024/0253659 A1, Aug. 1, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/02 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 30/0956 (2013.01); B60W 40/02 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/00 (2020.02)] 20 Claims
OG exemplary drawing
 
6. One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving a first sensor observation based on first sensor data representing an environment of a vehicle;
receiving a second sensor observation based on second sensor data representing the environment, wherein the first sensor observation and the second sensor observation represent an object in the environment;
determining, based on a machine learning model, a first similarity matrix including a first similarity value, wherein the first similarity value represents a first similarity of the first sensor observation and the second sensor observation;
determining a track associated with the environment based on the first similarity matrix, wherein the track represents the object;
determining a second similarity matrix that includes a second similarity value, wherein the second similarity value represents a second similarity of a third sensor observation and the track; and
controlling the vehicle based on the second similarity matrix.