US 12,449,543 B2
Out of sequence perception system
Subhasis Das, San Mateo, CA (US); Chuang Wang, Woodside, CA (US); and Sabeek Mani Pradhan, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jan. 19, 2024, as Appl. No. 18/417,356.
Application 18/417,356 is a continuation of application No. 16/549,694, filed on Aug. 23, 2019, granted, now 11,879,978.
Prior Publication US 2024/0241257 A1, Jul. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/89 (2020.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01); G01S 7/00 (2006.01); G01S 17/42 (2006.01); G01S 17/58 (2006.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G01S 19/39 (2010.01); G05D 1/00 (2024.01); G06N 3/0455 (2023.01); G06N 3/0464 (2023.01); G06N 3/047 (2023.01); G06N 3/0475 (2023.01); G06N 3/084 (2023.01); G06N 5/01 (2023.01); G06N 7/01 (2023.01); G06N 20/00 (2019.01); G06N 20/10 (2019.01); G06N 20/20 (2019.01)
CPC G01S 17/89 (2013.01) [B60W 60/00272 (2020.02); G01C 21/3492 (2013.01); G01S 7/003 (2013.01); G01S 17/42 (2013.01); G01S 17/58 (2013.01); G01S 17/86 (2020.01); G01S 19/393 (2019.08); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01); G06N 3/0464 (2023.01); G06N 20/00 (2019.01); B60W 2420/408 (2024.01); G01C 21/343 (2013.01); G01S 17/931 (2020.01); G06N 3/0455 (2023.01); G06N 3/047 (2023.01); G06N 3/0475 (2023.01); G06N 3/084 (2013.01); G06N 5/01 (2023.01); G06N 7/01 (2023.01); G06N 20/10 (2019.01); G06N 20/20 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving first sensor data captured by a first set of sensors of first sensor modalities, wherein the first set of sensors generate the first sensor data over a first time period;
generating a track for an object based at least in part on the first sensor data;
receiving second sensor data captured by a second sensor of a second sensor modality, wherein:
the second sensor generates the second sensor data over a second time period that is less than the first time period, and
the second sensor data is generated while third sensor data captured by the first set of sensors is unavailable due to the first set of sensors capturing the third sensor data over a third time period that is equal to the first time period;
one of updating the track or generating a new track for the object based solely on the second sensor data; and
controlling a vehicle based at least in part on at least one of the track or the new track.