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. 16, 2024
Filed:
Dec. 30, 2020
Zoox, Inc., Foster City, CA (US);
Yuanyuan Chen, San Mateo, CA (US);
Zeng Wang, Menlo Park, CA (US);
ZOOX, INC., Foster City, CA (US);
Abstract
Techniques for determining an object contour are discussed. Depth data associated with an object may be received. The depth data, such as lidar data, can be projected onto a two-dimensional plane. A first convex hull may be determined based on the projected lidar data. The first convex hull may include a plurality of boundary edges. A longest boundary edge, having a first endpoint and a second endpoint, can be determined. An angle can be determined based on the first endpoint, the second endpoint, and an interior point in the interior of the first convex hull. The longest boundary edge may be replaced with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint. An updated convex hull can be determined based on the first segment and the second segment.