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:
Apr. 18, 2023
Filed:
Mar. 23, 2021
Waymo Llc, Mountain View, CA (US);
Shawn Nematbakhsh, Palo Alto, CA (US);
Alec Berg, San Mateo, CA (US);
Craig Robinson, San Francisco, CA (US);
Alexander Zbrozek, Los Altos Hills, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Systems and methods for estimating sensor timestamps by oversampling are provided. One example method involves observing, at a sampling frequency, sensor data from a register of a sensor. The sensor updates the register with sensor data at as sensor update frequency. The sampling frequency is different from the sensor update frequency. The method also involves generating, based on the sensor update frequency and the sampling frequency, an observed sequence representing the sensor data. The observed sequence indicates whether the register is observed to be updated or not updated. The method also involves estimating, from the observed sequence, the sensor update frequency and a sensor update phase. The method also involves determining, based on the sensor update frequency as estimated and the sensor update phase as estimated, a timestamp corresponding to an update of the register.