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:
Feb. 13, 2024
Filed:
May. 31, 2022
Zoox, Inc., Foster City, CA (US);
Till Kroeger, Chicago, IL (US);
Veeresh Taranalli, San Jose, CA (US);
Michael Carsten Bosse, Templeton, CA (US);
ZOOX, INC., Foster City, CA (US);
Abstract
A soft-constraint technique for refining an initial pose graph may eschew using a hard constraint that identifies different sensor data and/or poses as necessarily being associated with a same portion of an environment. Instead, the soft-constraint technique may employ a loss function with a convergence basin that may be defined based at least in part on an object classification that strongly penalizes candidate locations within a distance associated with the convergence basin. These candidate locations may be based at least in part on one or more object detections associated (1:1) with one or more poses of the initial pose graph. This may result in one or more candidate locations that do not merge with other candidate locations, giving the pose graph optimization the permissiveness or softness according to the techniques described herein.