Patent ID: 11861857
Assignee: ZOOX, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicle comprising:
a time-of-flight sensor;
one or more processors; and
memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to perform operations comprising:
receiving first depth information and first intensity information generated by the time-of-flight sensor, the first depth information being based, at least in part, on a first modulation frequency of the time-of-flight sensor;
receiving second depth information and second intensity information generated by the time-of-flight sensor, the second depth information being based, at least in part, on a second modulation frequency higher than the first modulation frequency;
determining, based at least in part on the first depth information, a plurality of first candidate depths for a surface;
determining, based at least in part on the second depth information, a plurality of second candidate depths for the surface;
determining, based on the plurality of first candidate depths and the plurality of second candidate depths, a disambiguated depth for the surface;
determining that the disambiguated depth is greater than a nominal maximum sensor depth associated with the time-of-flight sensor operating at the first modulation frequency;
determining, from at least one of the first intensity information or the second intensity information, an intensity associated with the surface; and
determining, based at least in part on the disambiguated depth being greater than the nominal maximum sensor depth and the intensity being equal to or greater than a threshold intensity, that an actual depth of the surface is beyond the nominal maximum sensor depth of the time-of-flight sensor operating at the first modulation frequency.