US 12,140,962 B2
Model for excluding vehicle from sensor field of view
Nicholas Armstrong-Crews, Mountain View, CA (US); Christian Lauterbach, Campbell, CA (US); Scott McCloskey, Mountain View, CA (US); and Peter Morton, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 22, 2023, as Appl. No. 18/200,243.
Application 18/200,243 is a continuation of application No. 16/225,745, filed on Dec. 19, 2018, granted, now 11,693,423.
Prior Publication US 2023/0288941 A1, Sep. 14, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); B60R 11/00 (2006.01); B60R 11/04 (2006.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01); G05D 1/00 (2024.01); H04Q 9/00 (2006.01)
CPC G05D 1/0248 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 30/18145 (2013.01); G05D 1/0088 (2013.01); G05D 1/0257 (2013.01); G05D 1/0276 (2013.01); H04Q 9/00 (2013.01); B60R 2011/004 (2013.01); B60R 11/04 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/00 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); G05D 1/0291 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining, by one or more processors, sensor data for an environment external to a vehicle, the sensor data being generated by a plurality of sensors of the vehicle as the vehicle drives through the environment in an autonomous driving mode;
projecting, by the one or more processors, the sensor data into a range image, the sensor data in the range image including a plurality of points, and each point of the plurality of points having a respective range value associated therewith; and
creating, by the one or more processors, a 3D mesh representation for each of the plurality of sensors, the 3D mesh representation being based on the range image.