Patents by Inventor Michael Carsten Bosse
Michael Carsten Bosse 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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Publication number: 20240094009Abstract: Relocating and/or re-sizing map elements using an updated pose graph without introducing abnormalities to the map data may comprise determining a transformation between a source node of a first pose graph and a target node of a second pose graph and determining a modification to a map element based at least in part on the transformation. The techniques may include determining a stress on the map based at least in part on one or more modifications to map elements and determining if the stress meets or exceeds a threshold. In instances where the stress meets or exceeds a threshold, a modification may be altered, reversed, and/or indicated in a notification transmitted to a user interface.Type: ApplicationFiled: August 19, 2022Publication date: March 21, 2024Inventors: Michael Carsten Bosse, Qi Fu, Elena Stephanie Stumm
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Publication number: 20240094029Abstract: Techniques for representing a scene or map based on statistical data of captured environmental data are discussed herein. In some cases, the data (such as covariance data, mean data, or the like) may be stored as a multi-resolution voxel space that includes a plurality of semantic layers. In some instances, individual semantic layers may include multiple voxel grids having differing resolutions. Multiple multi-resolution voxel spaces may be merged or aligned to generate combined scenes based on detected voxel covariances at one or more resolutions.Type: ApplicationFiled: May 31, 2022Publication date: March 21, 2024Inventors: Hirotatsu Armstrong, Patrick Blaes, Michael Carsten Bosse, Jeffrey Eric Tolliver
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Patent number: 11915436Abstract: Techniques for integrating sensor data into a scene or map based on statistical data of captured environmental data are discussed herein. The data may be stored as a multi-resolution voxel space and the techniques may comprise first applying a pre-alignment or localization technique prior to fully integrating the sensor data.Type: GrantFiled: August 30, 2021Date of Patent: February 27, 2024Assignee: ZOOX, INC.Inventors: Patrick Blaes, Michael Carsten Bosse, Elena Stephanie Stumm, Derek Adams, Brice Rebsamen
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Patent number: 11898873Abstract: Systems and methods for calibrating multiple inertial measurement units on a system include calibrating a first of the inertial measurement units relative to the system using a first calibration model, and calibrating the remaining inertial measurement unit(s) relative to the first inertial measurement unit using a second calibration model. The calibration of the remaining inertial measurement unit(s) to the first inertial measurement unit can be based on a rigid body model by aligning a rotational velocity of the first inertial measurement unit with a rotational velocity of the remaining inertial measurement unit(s).Type: GrantFiled: August 31, 2021Date of Patent: February 13, 2024Assignee: ZOOX, INC.Inventors: Siddharth Ratapani Navin, Derek Adams, Michael Carsten Bosse, Aleksandrs Ecins
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Patent number: 11897486Abstract: Techniques described are related to determining when a discrepancy between data of multiple sensors (e.g., IMUs) might be attributable to a sensor error, as opposed to operating conditions, such as sensor bias or noise. For example, the sensor data is passed through one or more filters (e.g., bandpass filter) that model the bias or noise, and the filtered data may then be compared for consistency. In some examples, consistency may be based on residuals or some other metric describing discrepancy among the filtered sensor data.Type: GrantFiled: November 29, 2021Date of Patent: February 13, 2024Assignee: ZOOX, INC.Inventors: Derek Adams, Eric Andre Senant, Weihung Ko, Michael Carsten Bosse
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Patent number: 11899114Abstract: A soft-constraint technique for refining an initial pose graph may eschew using a hard constraint that identifies different sensor data and/or poses as necessarily being associated with a same portion of an environment. Instead, the soft-constraint technique may employ a loss function with a convergence basin that may be defined based at least in part on an object classification that strongly penalizes candidate locations within a distance associated with the convergence basin. These candidate locations may be based at least in part on one or more object detections associated (1:1) with one or more poses of the initial pose graph. This may result in one or more candidate locations that do not merge with other candidate locations, giving the pose graph optimization the permissiveness or softness according to the techniques described herein.Type: GrantFiled: May 31, 2022Date of Patent: February 13, 2024Assignee: ZOOX, INC.Inventors: Till Kroeger, Veeresh Taranalli, Michael Carsten Bosse
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Patent number: 11872994Abstract: Techniques for using a set of variables to estimate a vehicle velocity of a vehicle are discussed herein. A system may determine an estimated velocity of the vehicle using a minimization based on an initial estimated velocity, steering angle data and wheel speed data. The system may then control an operation of the vehicle based at least in part on the estimated velocity.Type: GrantFiled: October 30, 2021Date of Patent: January 16, 2024Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Brice Rebsamen
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Patent number: 11851049Abstract: Techniques for utilizing microphone or audio data to detect and responding to low velocity impacts to a system such as an autonomous vehicle. In some cases, the system may be equipped with a plurality of microphones that may be used to detect impacts that fail to register on the data captured by the vehicle's inertial measurement units and may go undetected by the vehicle's perception system and sensors. In one specific example, the perception system of the autonomous vehicle may identify a period of time in which a potential low velocity impact may occur. The autonomous vehicle may then utilize the microphone or audio data associated with the period of time to determine if an impact occurred.Type: GrantFiled: February 28, 2020Date of Patent: December 26, 2023Assignee: Zoox, Inc.Inventors: Dilip Bethanabhotla, Michael Carsten Bosse, Venkata Subrahmanyam Chandra Sekhar Chebiyyam, Nam Gook Cho, Jonathan Tyler Dowdall, Amanda Brown Prescott, Subasingha Shaminda Subasingha, Sarah Tariq
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Patent number: 11803977Abstract: Techniques are described for determining whether a point cloud registration (e.g., alignment) between two sets of data points is valid. Such techniques can include determining voxelized representations of the sets of data points, and comparing characteristics of spatially aligned voxels within the voxelized representations. Characteristics of voxels to be compared can include classification labels of data points associated with voxels, including whether or not voxels correspond to free space. Point cloud registrations determined to be invalid can be given a weighting to be used in a subsequent high definition (HD) map building process. Generated maps can then be deployed for use in autonomous vehicles.Type: GrantFiled: December 13, 2021Date of Patent: October 31, 2023Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Veeresh Taranalli, Elena Stephanie Stumm
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Publication number: 20230343222Abstract: Techniques associated with generating and maintaining sparse geographic and map data. In some cases, the system may maintain a factor graph comprising a plurality of nodes. In some cases, the nodes may comprise pose data and sensor data associated with an autonomous vehicle at the geographic position represented by the node. The nodes may be linked based on shared trajectories and shared sensor data.Type: ApplicationFiled: April 18, 2023Publication date: October 26, 2023Applicant: Zoox, Inc.Inventors: Derek Adams, Michael Carsten Bosse, Elena Stephanie Stumm, Veeresh Taranalli
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Patent number: 11794756Abstract: Techniques are described for using variables associated with vehicle wheels (e.g., linear velocity at a wheel and orientation of the wheel) to estimate velocity of a vehicle during a turn maneuver. In examples of the disclosure, in association with one or more wheels, a wheel orientation during the maneuver and a linear speed during the maneuver may be determined, and well as a yaw rate (e.g., from an inertial measurement unit, gyroscope, etc.) of the vehicle. Examples of the present disclosure include, based on the variables associated with the wheel(s) and the yaw rate associated with the turn maneuver, estimating a vehicle velocity, which may be used by various downstream components, such as to determine or update a pose of a vehicle as part of a localization operation.Type: GrantFiled: August 31, 2021Date of Patent: October 24, 2023Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Brice Rebsamen
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Patent number: 11787419Abstract: The techniques discussed herein include modifying a Kalman filter to additionally include a loss component that dampens the effect measurements with large errors (or measurements indicating states that are rather different than the predicted state) have on the Kalman filter and, in particular, the updated uncertainty and/or updated prediction. In some examples, the techniques include scaling a Kalman gain based at least in part on a loss function that is based on the innovation determined by the Kalman filter. The techniques additionally or alternatively include a reformulation of a Kalman filter that ensures that the uncertainties determined by the Kalman filter remain symmetric and positive definite.Type: GrantFiled: October 22, 2021Date of Patent: October 17, 2023Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Adrian Michael Costantino, Subhasis Das, Francesco Papi
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Patent number: 11782815Abstract: A computer-implemented method. Includes obtaining pointwise data indicating, for a plurality of time steps, a pointwise measurement of a state of an object detected by an object detection system. Includes obtaining, from a runtime model, runtime data indicating, for the plurality of time steps, a runtime estimate of the state of the object. Includes processing, by a benchmark model, the pointwise data to determine, for the plurality of time steps, a benchmark estimate of the state of the object. Includes evaluating a metric measuring, for the plurality of time steps, a deviation between the runtime estimate and the benchmark estimate of the state of the object. Includes updating, based on the on the evaluation of the metric, the runtime model.Type: GrantFiled: January 21, 2022Date of Patent: October 10, 2023Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Gerry Chen, Subhasis Das, Francesco Papi, Zachary Sun
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Patent number: 11745726Abstract: Techniques for using a set of non-steering variables to estimate an angle of a wheel are described. For example, a yaw rate, a linear velocity of a wheel, and vehicle dimensions (e.g., offset between the wheel and a turn-center reference line), can be used to estimate the angle of the wheel. Among other things, estimating angles based on non-steering variables may provide redundancy (e.g., when determined in parallel with steering-based command angles or other commanded angles) and/or may be used to validate commanded angles based on steering components.Type: GrantFiled: June 30, 2021Date of Patent: September 5, 2023Assignee: Zoox, Inc.Inventors: Michael Carsten Bosse, Brice Rebsamen
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Publication number: 20230251951Abstract: A computer-implemented method. Includes obtaining pointwise data indicating, for a plurality of time steps, a pointwise measurement of a state of an object detected by an object detection system. Includes obtaining, from a runtime model, runtime data indicating, for the plurality of time steps, a runtime estimate of the state of the object. Includes processing, by a benchmark model, the pointwise data to determine, for the plurality of time steps, a benchmark estimate of the state of the object. Includes evaluating a metric measuring, for the plurality of time steps, a deviation between the runtime estimate and the benchmark estimate of the state of the object. Includes updating, based on the on the evaluation of the metric, the runtime model.Type: ApplicationFiled: January 21, 2022Publication date: August 10, 2023Inventors: Michael Carsten BOSSE, Gerry CHEN, Subhasis DAS, Francesco PAPI, Zachary SUN
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Patent number: 11680824Abstract: Techniques for, among other things, detecting faults associated with inertial measurement units (IMUs) of a vehicle when multiple IMUs are coupled to the vehicle are described herein. The techniques may include receiving first data from a first IMU of the vehicle and receiving second data from a second IMU of the vehicle. Based at least in part on the first data and the second data, a rotation of the first IMU relative to the second IMU may be calculated. The calculated rotation between the first IMU and the second IMU may be indicative of a fault associated with the first IMU or the second IMU. In response to detecting the fault, an action may be performed with respect to the first IMU or the second IMU to correct for the fault.Type: GrantFiled: August 30, 2021Date of Patent: June 20, 2023Assignee: Zoox, Inc.Inventors: Siddharth Ratapani Navin, Derek Adams, Michael Carsten Bosse, Aleksandrs Ecins
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Publication number: 20230186494Abstract: Techniques are described for determining whether a point cloud registration (e.g., alignment) between two sets of data points is valid. Such techniques can include determining voxelized representations of the sets of data points, and comparing characteristics of spatially aligned voxels within the voxelized representations. Characteristics of voxels to be compared can include classification labels of data points associated with voxels, including whether or not voxels correspond to free space. Point cloud registrations determined to be invalid can be given a weighting to be used in a subsequent high definition (HD) map building process. Generated maps can then be deployed for use in autonomous vehicles.Type: ApplicationFiled: December 13, 2021Publication date: June 15, 2023Inventors: Michael Carsten BOSSE, Veeresh TARANALLI, Elena Stephanie STUMM
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Patent number: 11657719Abstract: Techniques associated with generating and maintaining sparse geographic and map data. In some cases, the system may maintain a factor graph comprising a plurality of nodes. In some cases, the nodes may comprise pose data and sensor data associated with an autonomous vehicle at the geographic position represented by the node. The nodes may be linked based on shared trajectories and shared sensor data.Type: GrantFiled: December 18, 2020Date of Patent: May 23, 2023Assignee: Zoox, Inc.Inventors: Derek Adams, Michael Carsten Bosse, Elena Stephanie Stumm, Veeresh Taranalli
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Publication number: 20230136325Abstract: Techniques for using a set of variables to estimate a vehicle velocity of a vehicle are discussed herein. A system may determine an estimated velocity of the vehicle using a minimization based on an initial estimated velocity, steering angle data and wheel speed data. The system may then control an operation of the vehicle based at least in part on the estimated velocity.Type: ApplicationFiled: October 30, 2021Publication date: May 4, 2023Inventors: Michael Carsten Bosse, Brice Rebsamen
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Patent number: 11623494Abstract: Motion can be induced at a vehicle, e.g., by actuating components of an active suspension system, and first sensor data and second sensor data representing an environment of the vehicle can be captured at a first position and a second position, respectively, resulting from the induced motion. A second sensor can determine motion information associated with the first position and the second position. Calibration information about the sensor, the first sensor data, and the motion information can be used to determine an expectation of sensor data at the second position. A calibration error can be the difference between the second sensor data and the expected sensor data.Type: GrantFiled: February 26, 2020Date of Patent: April 11, 2023Assignee: Zoox, Inc.Inventors: Taylor Andrew Arnicar, Derek Adams, Michael Carsten Bosse, Johannes Edren, Till Kroeger