	US 12,487,359 B2
	Perceiving objects based on sensing surfaces and sensing surface motion
Schuyler Alexander Cullen, Santa Clara, CA (US)
Assigned to Summer Robotics, Inc., Campbell, CA (US)
Filed by Summer Robotics, Inc., Campbell, CA (US)
Filed on Dec. 14, 2021, as Appl. No. 17/551,054.
Claims priority of provisional application 63/205,480, filed on Dec. 14, 2020.
Prior Publication US 2022/0187461 A1, Jun. 16, 2022
Int. Cl. G01S 17/58 (2006.01)

CPC G01S 17/58 (2013.01)

32 Claims

1. A method for perceiving one or more surfaces of one or more objects using one or more processors that are configured to execute instructions, wherein the instructions perform actions, comprising:

obtaining, by one or more sensing servers, one or more trajectories of one or more reflections of a signal projected, by one or more signal generators, in one or more scanning paths towards the one or more surfaces based on a collection of a continuous stream of sensor events detected by one or more sensors, wherein each trajectory is a parametric representation of a one-dimensional curve segment having one or more constant coefficients that correspond to a location of a signal generator for the signal and one or more detected sensor events on the one or more scanning paths in a three-dimensional space, and wherein a start of each trajectory begins with an end of another trajectory caused by one or more of a maximum length, maximum amount of time, or discontinuity in the stream of detected sensor events;

employing the one or more trajectories to collect one or more sensor events on the one or more scanning paths for the one or more surfaces;

transmitting the one or more trajectories to a modeling engine to perform one or more further actions based on the one or more trajectories and the one or more sensor events on the scanning paths for the one or more surfaces, including:

in response to obtaining one or more changes to the one or more sensors events on the one or more scanning paths for the one or more surfaces, updating the one or more trajectories based on the one or more changed sensor events; and

performing one or more additional actions based on the one or more updated trajectories and the one or more changed sensor events on the one or more scanning paths for the one or more surfaces.