Patent ID: 11914390
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A method comprising:
receiving first audio data by an autonomous vehicle in an environment;
receiving second audio data;
determining, based at least in part on the first audio data, a first direction of arrival (DoA) value;
determining, based at least in part on the second audio data, a second DoA value; and
determining, based at least in part on perception data associated with the environment, the first DoA value, and the second DOA value, and on both the first audio data and the second audio data representing sound emitted by an object in the environment, that the first audio data is associated with the sound being emitted by the object, and, based at least in part on the sound being reflected by a surface in the environment, that the second audio data is associated with reflected sound associated with the first audio data.