The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 13, 2021
Filed:
Nov. 16, 2017
Zoox, Inc., Menlo Park, CA (US);
Vasiliy Karasev, San Francisco, CA (US);
Juhana Kangaspunta, San Francisco, CA (US);
James William Vaisey Philbin, Palo Alto, CA (US);
Zoox, Inc., Foster City, CA (US);
Abstract
An object position and/or orientation can be determined based on image data and object contact points. Image data can be captured representing an object, such as a vehicle. Vehicle contact points can be identified in the image data representing wheel contacts with the ground. For an individual vehicle contact point (e.g., a left-front wheel of the second vehicle), a ray can be determined that emanates from the image sensor and passes through the vehicle contact point. To determine a location and velocity of the vehicle, the ray can be unprojected onto a three-dimensional surface mesh, and an intersection point between the ray and the three-dimensional surface mesh can be used as an initial estimate for the projected location of the vehicle contact point in the world. The estimated location can be adjusted based on various cost functions to optimize an accuracy of the locations of the estimated vehicle contact points.