US 12,441,355 B1
Generating composite data using long and short time-of-flight exposures
Yongzhe Chen, San Jose, CA (US); Arvind Shivu Govinday, Fairfax, VA (US); Samuel Russell Holladay, San Francisco, CA (US); Robert Nicholas Moor, San Mateo, CA (US); Jonathan Solheim, Santa Clara, CA (US); Shaminda Subasingha, San Ramon, CA (US); and Wuyang Yu, Sunnyvale, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Oct. 31, 2022, as Appl. No. 17/977,918.
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 20 Claims
OG exemplary drawing
 
6. A method comprising:
receiving first sensor data corresponding to a first exposure generated by a time-of-flight sensor at a first exposure time;
receiving second sensor data corresponding to a second exposure generated by the time-of-flight sensor at a second exposure time longer than the first exposure time;
determining a plurality of pixels in the first sensor data having an intensity above a threshold intensity, the plurality of pixels having first pixel positions;
matching the plurality of pixels to corresponding pixels in the second sensor data, the corresponding pixels having second pixel positions different from the first pixel positions; and
generating composite sensor data comprising first attributes of the plurality of pixels associated with the second pixel positions and second attributes of the second sensor data at positions different from the second pixel positions;
determining a change in a position of the time-of-flight sensor between the first exposure time and the second exposure time; and
correcting, based at least in part on the composite sensor data, the change in the position of the time-of-flight sensor.