Abstract: Systems and methods for segmenting scan data are disclosed. The methods include receiving scan data representing a plurality of points in an environment associated with a ground surface and one or more objects, and creating a graph from the scan data. The graph includes a plurality of vertices corresponding to the plurality of points. The method further includes assigning a unary potential to each of the plurality of vertices that is a cost of assigning that vertex to a ground label or a non-ground label, and assigning a pairwise potential to each pair of neighboring vertices in the graph that is the cost of assigning different labels to neighboring vertices. The methods include using the unary potentials and the pairwise potentials to identify labels for each of the plurality of points, and segmenting the scan data to identify points associated with the ground based on the identified labels.

Abstract: Messaging systems and methods for routing messages between network nodes of a distributed computing system are disclosed. The messaging system includes a plurality of network nodes. Each network node includes a shared memory comprising a shared memory region configured to store messages, a publisher, and a first bridge module. The first bridge module determines if a subscriber for a shared memory region of that network node exists on a remote network node, where the remote network node does not include the publisher. Upon determining that the subscriber exists on the remote network node, the first bridging module reads a plurality of messages from the shared memory region, and transmits the plurality of messages to a second bridge module of the remote network node. The second bridge module is configured to write the plurality of messages to a remote memory region on the remote network node.

Abstract: A system receives an observation probability distribution function associated with a target object that was detected by sensors of an autonomous vehicle. The system identifies a target attribute of the target object, and detects a target attribute value associated with the target object. The system determines a first probability distribution function representing a probability of the autonomous vehicle detecting an object having an object label, determines a second probability distribution function defining a probability of the autonomous vehicle detecting the target attribute, determines a third probability distribution function defining a probability of the target attribute being present for the target object based on the target attribute value, and determines an attribute probability distribution function defining a probability that the target attribute is actually present for the target object.

Abstract: An autonomous vehicle identifies an intersection, identifies an object in proximity to the intersection, identifies a plurality of outlets of the intersection, and, for each outlet, identifies a polyline associated with the outlet, identifies a target point along the polyline, and determines a constant curvature path from the object to the target point. The system determines a score associated with each outlet based at least in part on the constant curvature path of the outlet, generates a pruned set of outlets that includes one or more of the outlets from the plurality of outlets based on its score, and for each outlet in the pruned set, generates a reference path from the object to the target point of the outlet.

Abstract: Systems and methods for designing a robotic system architecture are disclosed. The methods include defining a software graph including a first plurality of nodes, and a first plurality of edges representative of data flow between the first plurality of tasks, and defining a hardware graph including a second plurality of nodes, and a second plurality of edges. The methods may include mapping the software graph to the hardware graph, modeling a latency associated with a computational path included in the software graph for the mapping between the software graph and the hardware graph, allocating a plurality of computational tasks in the computational path to a plurality of the hardware components to yield a robotic system architecture using the latency, and using the robotic system architecture to configure the robotic device to be capable of performing functions corresponding to the software graph.

Abstract: Devices, systems, and methods are provided for reducing electrical and optical crosstalk in photodiodes. A photodiode may include a first layer with passive material, the passive material having no electric field. The photodiode may include a second layer with an absorbing material, the second layer above the first layer. The photodiode may include a diffused region with a buried p-n junction. The photodiode may include an active region with the buried p-n junction and having an electric field greater than zero. The photodiode may include a plateau structure based on etching through the second layer to the first layer, the etching performed at a distance of fifteen microns or less from the buried p-n junction.

Abstract: Devices, systems, and methods are provided for testing and validation of a camera. A device may determine a content object placed in a line of sight of a camera device, wherein the content object provides informational and visual content. The device may capture one or more images of the content object. The device may cause an electromagnetic event using an electromagnetic interference device, causing an electromagnetic event to affect an image quality of at least one of the one or more images captured by the camera device. The device may assign a structural similarity index (SSIM) score to the at least one image of the one or more images, wherein the SSIM score indicates a camera validation status of the camera device. The device may assign an SSIM score between on one image taken without the presence of interference and one image taken in the presences of the interference.

Abstract: Systems and methods for sharing information between a publisher and a subscriber are disclosed. The system includes a shared memory and a memory broker. The memory broker is configured to receive a request for writing a message relating to a topic from a publisher and determine whether a communication channel corresponding to the topic exists in the shared memory. If the communication channel corresponding to the topic exists, the memory broker then assigns a buffer ring on the communication channel to the publisher, transmits information relating to the buffer ring to the publisher, and transmits information relating to the buffer ring to one or more subscribers of the communication channel.

Abstract: Devices, systems, and methods are provided for using a light detection and ranging (LIDAR) receiver optical design. A vehicle anamorphic LIDAR system may include a group of rotationally symmetric lenses, a first cylindrical lens, and a second cylindrical lens, wherein the first cylindrical lens is arranged between the group of rotationally symmetric lenses and the second cylindrical lens, wherein the vehicle anamorphic LIDAR system is associated with a first focal length in a first direction associated with a scene field of view, and a second focal length in a second direction perpendicular to the first direction and associated with an instantaneous field of view, and wherein the first focal length is different than the second focal length.

Abstract: An autonomous vehicle navigates an intersection in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by generating a phantom obstacle behind the occlusion. The vehicle will predict the speed of the phantom obstacle and use the predicted speed to assess whether the phantom obstacle may collide with the vehicle. If a collision is a risk, the vehicle will slow or stop until it confirms that either (a) the phantom obstacle is not a real obstacle or (b) the vehicle can proceed at a speed that avoids the collision. To determine which occlusions shield real objects, the system may use a rasterized visibility grid of the area to identify occlusions that may accommodate the object.

Abstract: To identify sources of data resulting from an execution flow in a robotic device such as an autonomous vehicle, an operating system receives sensor data from various sensors of the robotic device. For each sensor, the system generates a data log comprising an identifier of a first checkpoint associated with that sensor, as well as a first timestamp. The system performs an execution flow on the sensor data from that sensor. The system updates the data log to include an identifier and timestamp for one or more additional checkpoints during the execution flow. The system then fuses results, uses the fused data as an input for a decision process, and causes a component of the robotic device to take an action in response to an output of the decision process. The system may record the action, an action timestamp and the data logs for each sensor in a memory.

Abstract: Devices, systems, and methods are provided for optical device validation. For example, a system may comprise an optical device operable to emit or absorb light, wherein the optical device comprises a lens having an outer surface. The system may comprise a camera positioned in a line of sight of the optical device, wherein the camera is operable to capture one or more images of the optical device. The system may comprise a computer system in communication with to the camera and operable to calculate a validation score for a captured image of the one or more images and to validate the optical device based on a validation state generated using the calculated validation score.

Abstract: Systems, methods, and computer-readable media are disclosed for obtaining data from multiple internal vehicle networks. An example method may include receiving, using a first internal communication network of a vehicle, a first query for data from one or more devices of the vehicle, wherein the first query is formatted for communication over the first internal communication network. The example method may also include generating, based on the first query, a second query associated with a supplemental communication network, wherein the supplemental communication network is also internal to the vehicle. The example method may also include sending, using the supplemental communication network, the second query to a first device, the first device being located on the supplemental communication network. The example method may also include receiving, from the first device, data relating to the second query.

Abstract: A GmAPD FPA having increased tolerance optical overstress includes a limit resistor that is monolithically integrated into each pixel in the FPA, and which limits the magnitude of the current entering the read out integrated circuit.

Abstract: Devices, systems, and methods are provided for mitigating vehicle power loss. A vehicle charging system may include a power supply, and a voltage control device associated with receiving first voltage from the power supply, providing the first voltage to a hybrid vehicle or a battery electric vehicle, and blocking a second voltage from the hybrid vehicle or the battery electric vehicle, wherein the vehicle charging system is external to the hybrid vehicle or the battery electric vehicle.

Abstract: Devices, systems, and methods are provided for sensor health and regression testing. A sensor testing system may include a first plurality of sensor testing targets positioned on a first side of a vehicle at a first distance from the vehicle, a second plurality of sensor testing targets positioned on a second side of the vehicle at the first distance, and a first sensor testing target positioned at a second distance from the vehicle, the second distance further from the vehicle than the first distance. The first and second pluralities of sensor testing targets both may include three or more sensor testing targets for testing cameras and light detection and ranging (LIDAR) sensors of the vehicle. The first sensor testing target may be used to test at least one of camera or LIDAR data. The sensor testing system may identify degradation of sensor performance, triggering further analysis and/or repairs.

Abstract: Devices, systems, and methods are provided for rapid laser recharging. A pulse emitting device may include an emitter to emit pulses, a first capacitor to provide pulses to the emitter, a second capacitor to charge the first capacitor, a first gate and a second gate to control the flow of current to the capacitors and the emitter, and a power supply configured to supply energy associated with the pulses. When the first gate is open, the first capacitor charges a first pulse of the pulses. When the first gate closes, the emitter emits the first pulse. When the first gate opens, the second gate closes and the second capacitor charges the first capacitor with a second pulse of the pulses. When the second gate opens after the second capacitor charges the first capacitor with the second pulse, the first gate closes and the emitter emits the second pulse.

Abstract: Devices, systems, and methods are provided for improved heat transfer LIDAR. A LIDAR device may comprise a LIDAR housing configured to attach to a vehicle to detect one or more objects in the field of view of the LIDAR device, wherein the LIDAR housing encloses one or more gases, wherein the one or more gases have a characteristic of being more thermal conductive than air. The LIDAR device may comprise one or more windows allowing light signals to pass through, wherein the one or more windows are attached to one or more walls of the LIDAR housing. The LIDAR device may comprise a rotating platform situated inside the LIDAR housing and configured to rotate around a center axis relative to the LIDAR housing. The LIDAR device may comprise one or more light signal transmitters configured to transmit first light signals through the one or more windows.

Abstract: Systems, methods, and computer-readable media are disclosed for a systems and methods for improved smart infrastructure data transfer. An example method may involve receiving, by a smart infrastructure device and from a first vehicle, first information associated with the first vehicle in a first format associated with a first communication protocol. The method may also include converting the first information from the first format into an agnostic format. The method may also include capturing an image, video, or real-time feed of an environment of the smart infrastructure device. The method may also include identifying the first vehicle and a second vehicle in the image, video, or real-time feed. The method may also include determining, based on the image, video, or real-time feed, that the second vehicle is temporarily or permanently incapable of performing a communication with the smart infrastructure device.

Abstract: Systems, methods, and computer-readable media are disclosed for smart infrastructure data transfer. An example system is provided with a processor and a memory storing computer-executable instructions that are executed by the processor. The processor sends, over a network, a first software image to a first smart device of a system of smart devices to update a first group of smart devices of the system; and performs a discovery process to identify a second group of smart devices of the system. The second group of smart devices being based on a number or type of smart devices accessible on the system. The processor also creates a second software image including a software update for the second group of smart devices; and sends, over the network, the second software image to the first smart device to update the second group of smart devices.