Patents by Inventor Colin Braley

Colin Braley 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: 12275430
    Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
    Type: Grant
    Filed: February 9, 2024
    Date of Patent: April 15, 2025
    Assignee: Waymo LLC
    Inventors: Volker Grabe, Colin Braley, Volodymyr Ivanchenko, Alexander Meade
  • Publication number: 20250102679
    Abstract: Aspects of the disclosure provide for controlling behaviors of autonomous vehicles based on evaluation of sensors of those vehicles. For instance, sensor data including distance and intensity information for a point in an environment of an autonomous vehicle may be received. An expected intensity value from a pre-stored fair weather reference map may be identified based on a location of the point. An effective detection range for the sensor may be dynamically determined based on the expected intensity and the intensity information for the point. A behavior of the autonomous vehicle may be controlled based on the effective detection range.
    Type: Application
    Filed: September 25, 2023
    Publication date: March 27, 2025
    Inventors: Colin Braley, Antonio Teran Espinoza, William Baxter, Michael Marx, Luke Wachter
  • Publication number: 20240393443
    Abstract: Example embodiments relate to methods for localizing light detection and ranging (lidar) calibration targets. An example method includes generating a point cloud of a region based on data from a light detection and ranging (lidar) device. The point cloud may include points representing at least a portion of a calibration target. The method also includes determining a presumed location of the calibration target. Further, the method includes identifying, within the point cloud, a location of a first edge of the calibration target. In addition, the method includes performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location. Still further, the method includes revising the presumed location of the calibration target based on at least the comparison.
    Type: Application
    Filed: August 5, 2024
    Publication date: November 28, 2024
    Inventors: Gil Shotan, Colin Braley, Volker Grabe, Volodymyr Ivanchenko
  • Publication number: 20240385302
    Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
    Type: Application
    Filed: July 26, 2024
    Publication date: November 21, 2024
    Inventors: Mingcheng Chen, Colin Braley, Volker Grabe, Christian Lauterbach
  • Patent number: 12131550
    Abstract: In one example, a method is provided that includes receiving lidar data obtained by a lidar device. The lidar data includes a plurality of data points indicative of locations of reflections from an environment of the vehicle. The method includes receiving images of portions of the environment captured by a camera at different times. The method also includes determining locations in the images that correspond to a data point of the plurality of data points. Additionally, the method includes determining feature descriptors for the locations of the images and comparing the feature descriptors to determine that sensor data associated with at least one of the lidar device, the camera, or a pose sensor is accurate or inaccurate.
    Type: Grant
    Filed: December 30, 2020
    Date of Patent: October 29, 2024
    Assignee: Waymo LLC
    Inventors: Colin Braley, Volodymyr Ivanchenko
  • Patent number: 12085678
    Abstract: Example embodiments relate to methods for localizing light detection and ranging (lidar) calibration targets. An example method includes generating a point cloud of a region based on data from a light detection and ranging (lidar) device. The point cloud may include points representing at least a portion of a calibration target. The method also includes determining a presumed location of the calibration target. Further, the method includes identifying, within the point cloud, a location of a first edge of the calibration target. In addition, the method includes performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location. Still further, the method includes revising the presumed location of the calibration target based on at least the comparison.
    Type: Grant
    Filed: December 30, 2020
    Date of Patent: September 10, 2024
    Assignee: Waymo LLC
    Inventors: Gil Shotan, Colin Braley, Volker Grabe, Volodymyr Ivanchenko
  • Patent number: 12066578
    Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
    Type: Grant
    Filed: February 11, 2021
    Date of Patent: August 20, 2024
    Assignee: Waymo LLC
    Inventors: Mingcheng Chen, Colin Braley, Volker Grabe, Christian Lauterbach
  • Publication number: 20240182065
    Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
    Type: Application
    Filed: February 9, 2024
    Publication date: June 6, 2024
    Inventors: Volker Grabe, Colin Braley, Volodymyr Ivanchenko, Alexander Meade
  • Patent number: 11965965
    Abstract: The technology relates to localizing a vehicle. As one approach, a first LIDAR sensor scan data of an environment of the vehicle and localization data for the vehicle at a location where the first LIDAR sensor scan was captured are stored. Thereafter, the computing device is suspended and subsequently unsuspended. After the computing device is unsuspended, second LIDAR sensor scan data of the vehicle's environment is received. The first LIDAR sensor scan data is compared to the second LIDAR sensor scan data to determine whether the vehicle has moved. Based on the determination of whether the vehicle has moved from the location, the stored localization data is used to localize the vehicle. Other approaches are also described.
    Type: Grant
    Filed: July 29, 2021
    Date of Patent: April 23, 2024
    Assignee: Waymo LLC
    Inventors: Mingcheng Chen, Colin Braley, Craig Lewin Robinson, Christian Lauterbach
  • Patent number: 11945467
    Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
    Type: Grant
    Filed: March 30, 2023
    Date of Patent: April 2, 2024
    Assignee: Waymo LLC
    Inventors: Volker Grabe, Colin Braley, Volodymyr Ivanchenko, Alexander Meade
  • Publication number: 20240094727
    Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
    Type: Application
    Filed: November 20, 2023
    Publication date: March 21, 2024
    Inventors: Stephanie McArthur, Mark Alexander Shand, Colin Braley
  • Patent number: 11933920
    Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.
    Type: Grant
    Filed: March 13, 2020
    Date of Patent: March 19, 2024
    Assignee: Waymo LLC
    Inventors: Gil Shotan, Luke Wachter, Colin Braley, Christian Lauterbach, Xiaoxiang Hu, Ming Zou
  • Patent number: 11860626
    Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
    Type: Grant
    Filed: August 26, 2021
    Date of Patent: January 2, 2024
    Assignee: Waymo LLC
    Inventors: Stephanie McArthur, Mark Alexander Shand, Colin Braley
  • Publication number: 20230234611
    Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
    Type: Application
    Filed: March 30, 2023
    Publication date: July 27, 2023
    Inventors: Volker Grabe, Colin Braley, Volodymyr Ivanchenko, Alexander Meade
  • Publication number: 20230171503
    Abstract: Example embodiments relate to taking images at certain predetermined angles in order to have consistent exposure throughout the images. An example embodiment includes a method. The method includes determining, using a lidar device, light intensity information of a surrounding environment of the lidar device. The light intensity information includes a plurality of angles within a threshold range of light exposure. The method also includes determining rotation times associated with each of the angles within the threshold range of light exposure. Further, the method includes based on the rotation times associated with each of the angles within the threshold range of light exposure, determining a plurality of target image times. In addition, the method includes capturing, by a camera system, a plurality of images at the plurality of target image times.
    Type: Application
    Filed: November 29, 2021
    Publication date: June 1, 2023
    Inventors: Colin Braley, Chase Salsbury, Po-Chao Huang
  • Publication number: 20230152429
    Abstract: An example method includes receiving, from a light detector, information indicative of a light intensity of a field of view of an optical system. The optical system includes one or more optical components and a light detector configured to receive light from a field of view of an environment of the optical system by way of the one or more optical components. The optical system also includes an occlusion-detection camera configured to capture images of the one or more optical components. The example method also includes adjusting, based on the received information, at least one operating parameter of the occlusion-detection camera. The example method also includes causing the occlusion-detection camera to capture at least one image of the one or more optical components according to the at least one adjusted operating parameter.
    Type: Application
    Filed: November 15, 2021
    Publication date: May 18, 2023
    Inventors: Colin Braley, Po-Chao Huang, Chase Salsbury, Hanna Revinskaya
  • Patent number: 11634153
    Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
    Type: Grant
    Filed: December 30, 2020
    Date of Patent: April 25, 2023
    Assignee: Waymo LLC
    Inventors: Volker Grabe, Colin Braley, Volodymyr Ivanchenko, Alexander Meade
  • Patent number: 11630209
    Abstract: A system includes a light detection and ranging device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point. The system also includes a signal processor configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point. The system additionally includes an embedding model configured to determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values representative of the physical characteristics of the respective point. The system further includes a feature detector configured to detect or classify a physical feature based on (i) the corresponding positions of one or more points of the plurality of points and (ii) the corresponding vectors of the one or more points.
    Type: Grant
    Filed: July 9, 2019
    Date of Patent: April 18, 2023
    Assignee: Waymo LLC
    Inventors: Mingcheng Chen, Christian Lauterbach, Colin Braley
  • Patent number: 11615553
    Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.
    Type: Grant
    Filed: April 21, 2022
    Date of Patent: March 28, 2023
    Assignee: Waymo LLC
    Inventors: Craig Lewin Robinson, Volker Grabe, Colin Braley, Zachary Morriss, Stephanie McArthur, Andrew Crawford
  • Publication number: 20220244395
    Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
    Type: Application
    Filed: February 11, 2021
    Publication date: August 4, 2022
    Inventors: Mingcheng Chen, Colin Braley, Volker Grabe, Christian Lauterbach