公开(公告)号：US11422265B2

公开(公告)日：2022-08-23

申请号：US16808988

申请日：2020-03-04

Applicant: Ouster, Inc.

Inventor： Pierre Amelot ,  Daniel Lu ,  Angus Pacala ,  Kairen Wong

IPC: G01S17/894 ,  G01S17/931 ,  B60W50/14 ,  B60W40/04 ,  G01S7/51

Abstract: Methods are provided for using a light ranging system of a vehicle. A computing system receives, from light ranging devices, ranging data including distance vectors to environmental surfaces. A distance vector can correspond to a pixel of a three-dimensional image stream. The system can identify a pose of a virtual camera relative to the light ranging devices. The light ranging devices are separated from the pose by first vectors that are used to translate some of the distance vectors using the first vectors. The system may determine colors associated with the translated distance vectors and display pixels of the three-dimensional image stream using the colors at pixel positions specified by the translated distance vectors. The system may use one or more vehicle models with the ranging data to provide semantic labels that describe a region that has been, or is likely to be, in a collision.

公开(公告)号：US20190178998A1

公开(公告)日：2019-06-13

申请号：US16213784

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Kairen Wong

IPC: G01S7/497 ,  G01S17/93

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US10859682B2

公开(公告)日：2020-12-08

申请号：US16213827

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu

IPC: G01S7/497 ,  G01S17/87 ,  G01S17/89 ,  G01S17/931 ,  G01C21/20 ,  G01C21/30 ,  G01S7/48 ,  G01S7/51 ,  G01S17/42 ,  B60Q9/00 ,  G05D1/02 ,  B60R1/00 ,  G01C21/36

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US10520593B2

公开(公告)日：2019-12-31

申请号：US16213784

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Kairen Wong

IPC: G01B11/30 ,  G01S7/497 ,  G01S17/93 ,  G01C21/20 ,  G01C21/30 ,  G01S7/48 ,  G01S7/51 ,  G01S17/42 ,  B60Q9/00 ,  G05D1/02 ,  B60R1/00 ,  G01C21/36

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US20190179029A1

公开(公告)日：2019-06-13

申请号：US16213843

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Wil Selby ,  Mushfiqur Rouf ,  Henru Wang ,  Kairen Wong

IPC: G01S17/93 ,  G01S17/42 ,  G01S7/48 ,  G01S7/51 ,  G01S7/497 ,  G01C21/30 ,  G01C21/20

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

公开(公告)号：US11754721B2

公开(公告)日：2023-09-12

申请号：US17818662

申请日：2022-08-09

Applicant: Ouster, Inc.

Inventor： Pierre Amelot ,  Daniel Lu ,  Angus Pacala ,  Kairen Wong

IPC: G01S17/894 ,  G01S17/931 ,  B60W50/14 ,  B60W40/04 ,  G01S7/51

CPC classification number: G01S17/894 ,  B60W40/04 ,  B60W50/14 ,  G01S7/51 ,  G01S17/931 ,  B60W2050/146

Abstract: Methods are provided for using a light ranging system. A computing system receives, from light ranging devices, ranging data including distance vectors to environmental surfaces. A distance vector can correspond to a pixel of a three-dimensional image stream. The system can identify a pose of a virtual camera relative to the light ranging devices. The light ranging devices are separated from the pose by first vectors that are used to translate some of the distance vectors using the first vectors. The system may determine colors associated with the translated distance vectors and display pixels of the three-dimensional image stream using the colors at pixel positions specified by the translated distance vectors. The system may use one or more models with the ranging data to provide semantic labels that describe a region that has been, or is likely to be, in a collision.

公开(公告)号：US10705193B2

公开(公告)日：2020-07-07

申请号：US16213843

申请日：2018-12-07

Applicant: Ouster, Inc.

Inventor： Angus Pacala ,  Dmitri Garbuzov ,  Daniel Lu ,  Wil Selby ,  Mushfiqur Rouf ,  Henru Wang ,  Kairen Wong

IPC: G01S7/497 ,  G01S17/93 ,  G01S17/87 ,  G01S17/89 ,  G01C21/20 ,  G01C21/30 ,  G01S7/48 ,  G01S7/51 ,  G01S17/42 ,  B60Q9/00 ,  G05D1/02 ,  B60R1/00 ,  G01C21/36

Abstract: Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.