Patents by Inventor Bertrand Robert Douillard

Bertrand Robert Douillard has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11175132
    Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score including an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.
    Type: Grant
    Filed: August 11, 2017
    Date of Patent: November 16, 2021
    Assignee: Zoox, Inc.
    Inventors: Derek Adams, Ian Baldwin, Bertrand Robert Douillard, Jesse Sol Levinson
  • Patent number: 11022974
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: June 1, 2021
    Assignee: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Timothy David Kentley-Klay, Bertrand Robert Douillard
  • Patent number: 10983199
    Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.
    Type: Grant
    Filed: August 11, 2017
    Date of Patent: April 20, 2021
    Assignee: Zoox, Inc.
    Inventors: Derek Adams, Ian Baldwin, Bertrand Robert Douillard, Jesse Sol Levinson
  • Patent number: 10832502
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.
    Type: Grant
    Filed: January 23, 2018
    Date of Patent: November 10, 2020
    Assignee: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Gabriel Thurston Sibley, Bertrand Robert Douillard
  • Publication number: 20200193606
    Abstract: Multi-dimensional data can be mapped to a projection shape and converted for image analysis. In some examples, the multi-dimensional data may include data captured by a LIDAR system for use in conjunction with a perception system for an autonomous vehicle. Converting operations can include converting three-dimensional LIDAR data to multi-channel two-dimensional data. Data points of the multi-dimensional data can be mapped to a projection shape, such as a sphere. Characteristics of the projection shape may include a shape, a field of view, a resolution, and a projection type. After data is mapped to the projection shape, the projection shape can be converted to a multi-channel, two-dimensional image. Image segmentation and classification may be performed on the two-dimensional data. Further, segmentation information may be used to segment the three-dimensional LIDAR data, while a rendering plane may be positioned relative to the segmented data to perform classification on a per-object basis.
    Type: Application
    Filed: February 26, 2020
    Publication date: June 18, 2020
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov
  • Publication number: 20200172095
    Abstract: A LIDAR system includes a laser emitter configured to emit a laser pulse in a sample direction of a sample area of a scene. A sensor element of the LIDAR system is configured to sense a return pulse, which is a reflection from the sample area corresponding to the emitted laser pulse. The LIDAR system may compare a width of the emitted laser pulse to a width of the return pulse in the time-domain. The comparison of the width of the emitted pulse to the width of the return pulse may be used to determine an orientation or surface normal of the sample area relative to the sample direction. Such a comparison leads to a measurement of the change of pulse width, referred to as pulse broadening or pulse stretching, from the emitted pulse to the return pulse.
    Type: Application
    Filed: February 7, 2020
    Publication date: June 4, 2020
    Inventors: Adam Berger, Ryan McMichael, Bertrand Robert Douillard
  • Patent number: 10593042
    Abstract: Multi-dimensional data can be mapped to a projection shape and converted for image analysis. In some examples, the multi-dimensional data may include data captured by a LIDAR system for use in conjunction with a perception system for an autonomous vehicle. Converting operations can include converting three-dimensional LIDAR data to multi-channel two-dimensional data. Data points of the multi-dimensional data can be mapped to a projection shape, such as a sphere. Characteristics of the projection shape may include a shape, a field of view, a resolution, and a projection type. After data is mapped to the projection shape, the projection shape can be converted to a multi-channel, two-dimensional image. Image segmentation and classification may be performed on the two-dimensional data. Further, segmentation information may be used to segment the three-dimensional LIDAR data, while a rendering plane may be positioned relative to the segmented data to perform classification on a per-object basis.
    Type: Grant
    Filed: April 11, 2017
    Date of Patent: March 17, 2020
    Assignee: Zoox, Inc.
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov
  • Patent number: 10556585
    Abstract: A LIDAR system includes a laser emitter configured to emit a laser pulse in a sample direction of a sample area of a scene. A sensor element of the LIDAR system is configured to sense a return pulse, which is a reflection from the sample area corresponding to the emitted laser pulse. The LIDAR system may compare a width of the emitted laser pulse to a width of the return pulse in the time-domain. The comparison of the width of the emitted pulse to the width of the return pulse may be used to determine an orientation or surface normal of the sample area relative to the sample direction. Such a comparison leads to a measurement of the change of pulse width, referred to as pulse broadening or pulse stretching, from the emitted pulse to the return pulse.
    Type: Grant
    Filed: April 13, 2017
    Date of Patent: February 11, 2020
    Assignee: Panosense Inc.
    Inventors: Adam Berger, Ryan McMichael, Bertrand Robert Douillard
  • Publication number: 20200026292
    Abstract: Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.
    Type: Application
    Filed: September 26, 2019
    Publication date: January 23, 2020
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov, Jesse Sol Levinson
  • Patent number: 10509947
    Abstract: Multi-dimensional data can be mapped to a projection shape and converted for image analysis. In some examples, the multi-dimensional data may include data captured by a LIDAR system for use in conjunction with a perception system for an autonomous vehicle. Converting operations can include converting three-dimensional LIDAR data to multi-channel two-dimensional data. Data points of the multi-dimensional data can be mapped to a projection shape, such as a sphere. Characteristics of the projection shape may include a shape, a field of view, a resolution, and a projection type. After data is mapped to the projection shape, the projection shape can be converted to a multi-channel, two-dimensional image. Image segmentation and classification may be performed on the two-dimensional data. Further, segmentation information may be used to segment the three-dimensional LIDAR data, while a rendering plane may be positioned relative to the segmented data to perform classification on a per-object basis.
    Type: Grant
    Filed: April 11, 2017
    Date of Patent: December 17, 2019
    Assignee: Zoox, Inc.
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov
  • Patent number: 10444759
    Abstract: Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.
    Type: Grant
    Filed: June 14, 2017
    Date of Patent: October 15, 2019
    Assignee: Zoox, Inc.
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov, Jesse Sol Levinson
  • Publication number: 20190049566
    Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.
    Type: Application
    Filed: August 11, 2017
    Publication date: February 14, 2019
    Inventors: Derek Adams, Ian Baldwin, Bertrand Robert Douillard, Jesse Sol Levinson
  • Publication number: 20190049242
    Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.
    Type: Application
    Filed: August 11, 2017
    Publication date: February 14, 2019
    Inventors: Derek Adams, Ian Baldwin, Bertrand Robert Douillard, Jesse Sol Levinson
  • Publication number: 20180364717
    Abstract: Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.
    Type: Application
    Filed: June 14, 2017
    Publication date: December 20, 2018
    Inventors: Bertrand Robert Douillard, Subhasis Das, Zeng Wang, Dragomir Dimitrov Anguelov, Jesse Sol Levinson
  • Publication number: 20180190046
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.
    Type: Application
    Filed: January 23, 2018
    Publication date: July 5, 2018
    Inventors: Jesse Sol Levinson, Gabriel Thurston Sibley, Bertrand Robert Douillard
  • Patent number: 9916703
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.
    Type: Grant
    Filed: November 4, 2015
    Date of Patent: March 13, 2018
    Assignee: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Bertrand Robert Douillard, Gabriel Thurston Sibley
  • Publication number: 20170351261
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
    Type: Application
    Filed: June 21, 2017
    Publication date: December 7, 2017
    Inventors: Jesse Sol Levinson, Timothy David Kentley-Klay, Bertrand Robert Douillard
  • Patent number: 9720415
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
    Type: Grant
    Filed: November 4, 2015
    Date of Patent: August 1, 2017
    Assignee: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Timothy David Kentley, Bertrand Robert Douillard
  • Publication number: 20170124781
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.
    Type: Application
    Filed: November 4, 2015
    Publication date: May 4, 2017
    Applicant: Zoox, Inc.
    Inventors: Bertrand Robert Douillard, Jesse Sol Levinson, Gabriel Thurston Sibley
  • Publication number: 20170123428
    Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
    Type: Application
    Filed: November 4, 2015
    Publication date: May 4, 2017
    Applicant: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Timothy David Kentley, Bertrand Robert Douillard