Automatic localization geometry detection
US10066946B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 26, 2016 |
| Grant date | Sep 4, 2018 |
| Priority date | — |
| Expiry date | Jan 29, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/16
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Embodiments include apparatus and methods for generating a localization geometry or occupancy grid for a geographic location. Point cloud that describes a vicinity of a pathway is collected by a distance sensor and describing a vicinity of the pathway. The point cloud data is reduced or filtered to a predetermined volume with respect to the roadway. The remaining point cloud data is projected onto a two-dimensional plane including at least one pixel formation. A volumetric grid is defined according to the at least one pixel formation, and a voxel occupancy for each of a voxels forming the volumetric grid is determined. The arrangement of the voxel occupancies or a sequence of data describing the voxel occupancies is a localization geometry that describes the geographic location of the pathway.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.