Zoox, Inc.

Aurora Innovation, Inc.

Nicholas George Dilip Roy

Ethan Eade

James Andrew Bagnell

Michael Carsten Bosse

Francesco Papi

Abhay Vardhan

Zachary Sun

Shuangting Liu

Yekeun Jeong

Adam Richard Williams

John Bryan Carter

Systems and techniques for determining more accurate object parameter values, such as orientation values (e.g., yaw, location, position, etc.), for objects detected in an environment are disclosed. A vehicle computing system may receive sensor data from multiple sensor systems that indicates a parameter value determined at the individual sensor systems. The vehicle computing system may determine values and probabilities for particular parameters modes based on the sensor data parameter values and may further filter these values using a mixture model to determine probability distributions for the modes and associated values. These filtered values and modes may then be used to determine predicted object trajectories that can be used to control a vehicle.

Determining object orientation based on parameter modes

Systems and methods for landmark-based localization of an autonomous vehicle ('AV') are described herein. Implementations can generate a first predicted location of a landmark based on a pose instance of a pose of the AV and a stored location of the landmark, generate a second predicted location of the landmark relative to the AV based on an instance of LIDAR data, generate a correction instance based on the comparing, and use the correction instance in generating additional pose instance(s). Systems and methods for validating localization of a vehicle are also described herein. Implementations can obtain driving data from a past episode of locomotion of the vehicle, generate a pose-based predicted location of a landmark in an environment of the vehicle, and compare the pose-based predicted location to a stored location of the landmark in the environment of the vehicle to validate a pose instance of a pose of the vehicle.

Landmark-based localization methods and architectures for an autonomous vehicle

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Needham, MA, United States of America

Nicholas George Dilip Roy