US 12,475,718 B2
Object bounding contours based on image data
Scott M. Purdy, Lake Forest Park, WA (US); Derek Xiang Ma, San Carlos, CA (US); Subhasis Das, San Mateo, CA (US); and Zeng Wang, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 21, 2024, as Appl. No. 18/750,796.
Application 18/750,796 is a continuation of application No. 17/513,674, filed on Oct. 28, 2021, granted, now 12,026,956.
Prior Publication US 2025/0022284 A1, Jan. 16, 2025
Int. Cl. G06K 9/00 (2022.01); B60W 60/00 (2020.01); G01S 17/931 (2020.01); G06T 7/20 (2017.01); G06T 7/50 (2017.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); G01S 17/931 (2020.01); G06T 7/20 (2013.01); G06T 7/50 (2017.01); G06V 10/44 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/404 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving sensor data from a sensor associated with a vehicle in an environment;
determining, based on the sensor data, object data representing an object in the environment;
inputting the object data to a machine learning model;
receiving, from the machine learning model, depth data associated with the object;
determining a boundary edge associated with the object, based at least in part on at least one of the sensor data or the depth data;
determining, based at least in part on the depth data and the boundary edge, a bounding contour associated with the object, the bounding contour including a first segment and a second segment connected by an interior point in an interior of the boundary edge; and
controlling the vehicle within the environment based at least in part on the bounding contour associated with the object.