Patents by Inventor Joseph Patrick Warga
Joseph Patrick Warga 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).
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Patent number: 11953623Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.Type: GrantFiled: April 30, 2020Date of Patent: April 9, 2024Assignee: Zoox, Inc.Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Patent number: 11954877Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include returns associated with highly reflective objects that cause glare. In some examples, a depth of a sensed surface is determined from the sensor data and additional pixels at the same depth are identified. The subset of pixels at the depth are filtered by comparing a measured intensity value to a threshold intensity value for the depth. Other threshold intensity values can be applied to subsets of pixels at different depths.Type: GrantFiled: December 8, 2020Date of Patent: April 9, 2024Assignee: Zoox, Inc.Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Patent number: 11921261Abstract: A lens assembly for systems such as imaging devices. The lens assembly may include at least five lens elements, where one or more of the lens elements includes positive optical power and one or more of the lenses includes negative optical power. The lens assembly may further include an aperture stop located between the lens elements. In some instances, the lens assembly provides a horizontal field of view that is at least 80 degrees while still including a total track length that is less than or equal to 50 millimeters and a diameter that is less than or equal to 13 millimeters. Additionally, in some instances, the lens assembly may cause all rays which impinge the sensor to be less than or equal to approximately 10 degrees.Type: GrantFiled: December 30, 2020Date of Patent: March 5, 2024Assignee: ZOOX, INC.Inventors: Ryan McMichael, Robert Nicholas Moor, Joseph Patrick Warga, Lee Tsung, Clark Pentico
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Patent number: 11861857Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.Type: GrantFiled: December 8, 2020Date of Patent: January 2, 2024Assignee: Zoox, Inc.Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Patent number: 11858524Abstract: A wind tunnel test may be performed on a vehicle to determine accumulation of substances (e.g., water) on sensors of the vehicle. Control surfaces may be created for the sensors based images representing the accumulations, where the control surfaces represent the include obstructions located where accumulations were detected during the test. The vehicle may then navigate around an environment using the control surfaces in order to determine a drivability of the vehicle. Also, a simulation may be performed, where the simulation outputs images representing simulated accumulations on the sensors. The outputs from the simulation may be compared to the results from the test in order to determine how accurately the simulation represents the test, determine domains in which the vehicle may safely operate, and/or improve the simulation.Type: GrantFiled: April 30, 2020Date of Patent: January 2, 2024Assignee: Zoox, Inc.Inventors: Holly Ho, Christopher William Labadie, Ryan McMichael, Joseph Patrick Warga
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Patent number: 11760313Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. The sensor pod system may include a cleaning system to clean sensing surfaces of sensor pods during operation. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.Type: GrantFiled: April 30, 2020Date of Patent: September 19, 2023Assignee: Zoox, Inc.Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Patent number: 11753042Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include saturated pixels, e.g., due to over-exposure, sensing highly-reflective objects, and/or excessive ambient light. In some examples, parameters associated with power of a time-of-flight sensor can be altered based on characteristics of the saturated pixels, as well as information about non-saturated pixels neighboring the saturated pixels. For example, the neighboring pixels may provide information about whether saturation is due to ambient light, e.g., sunlight, or due to emitted light from the sensor.Type: GrantFiled: December 29, 2020Date of Patent: September 12, 2023Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Patent number: 11623585Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly disposed on a vehicle, for example, an autonomous vehicle to collect and provide data of the environment during operation of the vehicle. The sensor pods may be disposed at elevated locations around the vehicle to reduce obstacles within the sensor pods fields of view.Type: GrantFiled: April 30, 2020Date of Patent: April 11, 2023Assignee: Zoox, Inc.Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Patent number: 11500067Abstract: Various lens designs for use in Time of Flight (ToF) sensor systems are discussed. Improvements to a ToF sensor system may be realized by, for example, incorporating a lens having particular features, such as a relatively short track length, fast lens speed (e.g., low f-number), low telecentricity, relatively flat field illumination, and fairly low cost. In some examples, such a lens of a ToF sensor system may be a lens assembly having a fixed focal length and that avoids use of lenses having aspheric surfaces so as to achieve relatively low cost.Type: GrantFiled: November 30, 2018Date of Patent: November 15, 2022Assignee: Zoox, Inc.Inventors: Ryan McMichael, Robert Nicholas Moor, Joseph Patrick Warga, Silas Kogure Wilkinson
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Publication number: 20220180539Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include returns associated with highly reflective objects that cause glare. In some examples, a depth of a sensed surface is determined from the sensor data and additional pixels at the same depth are identified. The subset of pixels at the depth are filtered by comparing a measured intensity value to a threshold intensity value for the depth. Other threshold intensity values can be applied to subsets of pixels at different depths.Type: ApplicationFiled: December 8, 2020Publication date: June 9, 2022Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Publication number: 20220180538Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.Type: ApplicationFiled: December 8, 2020Publication date: June 9, 2022Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Turhan Karadeniz, Robert Nicholas Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Publication number: 20220179089Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. An estimated depth of an object may be determined from the first image data, and an actual depth of the object may be determined from the second image data, based on the estimated depth. In examples, the first and second configurations have different modulation frequencies such that a nominal maximum depth in the first configuration is greater than the nominal maximum depth in the second configuration.Type: ApplicationFiled: December 8, 2020Publication date: June 9, 2022Inventors: Subasingha Shaminda Subasingha, Yongzhe Chen, Mehran Ferdowsi, Samuel Holladay, Tuman Karadeniz, Roberrt Nicholsd Moor, Joseph Patrick Warga, Harrison Thomas Waschura, Silas Kogure Wilkinson
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Patent number: 11353590Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle. A combination of techniques may be used to calibrate a sensor pod prior to installation in the vehicle and may be used to determine if the sensor pod is compatible with other sensor pods and may also be used to calibrate other sensors when integrating the sensor pod into the vehicle.Type: GrantFiled: April 30, 2020Date of Patent: June 7, 2022Assignee: Zoox, Inc.Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Patent number: 11305724Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may include a housing and extend from a portion of a body of a vehicle. The sensor pod housing may have energy absorbing structures configured to absorb and dissipate energy during an impact in order to protect a pedestrian. The sensor pod may have deformable portions of the housing configured to absorb and dissipate energy during the impact. The sensor pod may have deformable fasteners coupling a sensor to the sensor pod configured to deform to absorb and dissipate energy during the impact.Type: GrantFiled: April 30, 2020Date of Patent: April 19, 2022Assignee: Zoox, Inc.Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Publication number: 20210339685Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly disposed on a vehicle, for example, an autonomous vehicle to collect and provide data of the environment during operation of the vehicle. The sensor pods may be disposed at elevated locations around the vehicle to reduce obstacles within the sensor pods fields of view.Type: ApplicationFiled: April 30, 2020Publication date: November 4, 2021Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Publication number: 20210341583Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.Type: ApplicationFiled: April 30, 2020Publication date: November 4, 2021Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Publication number: 20210339699Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may include a housing and extend from a portion of a body of a vehicle. The sensor pod housing may have energy absorbing structures configured to absorb and dissipate energy during an impact in order to protect a pedestrian. The sensor pod may have deformable portions of the housing configured to absorb and dissipate energy during the impact. The sensor pod may have deformable fasteners coupling a sensor to the sensor pod configured to deform to absorb and dissipate energy during the impact.Type: ApplicationFiled: April 30, 2020Publication date: November 4, 2021Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Publication number: 20210341613Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. A sensor pod may have an effective field of view created by individual sensors with overlapping fields of view. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle. A combination of techniques may be used to calibrate a sensor pod prior to installation in the vehicle and may be used to determine if the sensor pod is compatible with other sensor pods and may also be used to calibrate other sensors when integrating the sensor pod into the vehicle.Type: ApplicationFiled: April 30, 2020Publication date: November 4, 2021Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Publication number: 20210339710Abstract: A sensor pod system includes one or more sensor pods with a plurality of sensors configured to collect data from an environment. The sensor pod system may include a cleaning system to clean sensing surfaces of sensor pods during operation. The sensor pod system may include sensors of different types and modalities. Sensor pods of the sensor pod system may be modularly installed on a vehicle, for example, an autonomous vehicle and collect and provide data of the environment during operation of the vehicle.Type: ApplicationFiled: April 30, 2020Publication date: November 4, 2021Inventors: Derek Adams, Daniel Glenn Johnson, Christopher William Labadie, Ryan McMichael, Daniel Miller, Peter Thomas Mitros, Anubhav Thakur, Joseph Patrick Warga, Austin In-Jei Yi
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Patent number: 10972638Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can be impacted by glare. In some examples, corrected data is generated by quantifying glare. A glare region including pixels that are not associated with an object in a range of the time-of-flight sensor may provide glare intensity and glare depth values used to quantify the glare. The glare intensity and glare depth may be used to correct measured data.Type: GrantFiled: August 23, 2019Date of Patent: April 6, 2021Assignee: Zoox, Inc.Inventors: Harrison Thomas Waschura, Joseph Patrick Warga, Subasingha Shaminda Subasingha, Robert Nicholas Moor, Ryan McMichael