Zoox, Inc.

Jonathan Solheim

Robert Nicholas Moor

Shaminda Subasingha

Yongzhe Chen

Samuel Holladay

Wuyang Yu

Venkata Subrahmanyam Chandra Sekhar Chebiyyam

Arvind Shivu Govinday

Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return unreliable pixels, e.g., in the case of over-exposure or saturation. In some examples, composite sensor data can be generated based on information from multiple exposures captured at different exposure times. In examples, pixels in a first exposure are matched to pixels in a second exposure to account for relative movement of the vehicle and the detected object in the composite sensor data.

Generating composite data using long and short time-of-flight exposures

Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Composite sensor data can be generated based on information from multiple exposures captured at different exposure times. In examples, a first depth determination technique is applied to a first subset of pixels and a second depth determination technique is applied to a second subset of the pixels. The first subset of pixels may correspond to pixels that are associated with a highly-reflective surface.

Localized depth disambiguation for time-of-flight data

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Santa Clara, CA, United States of America

Jonathan Solheim