Enrichment of point cloud data for high-definition maps for autonomous vehicles
US10422639B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 27, 2017 |
| Grant date | Sep 24, 2019 |
| Priority date | — |
| Expiry date | Dec 27, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A vehicle computing system performs enhances relatively sparse data collected by a LiDAR sensor by increasing the density of points in certain portions of the scan. For instance, the system generates 3D triangles based on a point cloud collected by the LiDAR sensor and filters the 3D triangles to identify a subset of 3D triangles that are proximate to the ground. The system interpolates points within the subset of 3D triangles to identify additional points on the ground. As another example, the system uses data collected by the LiDAR sensor to identify vertical structures and interpolate additional points on those vertical structures. The enhanced data can be used for a variety of applications related to autonomous vehicle navigation and HD map generation, such as detecting lane markings on the road in front of the vehicle or determining a change in the vehicle's position and orientation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.