Undistorted raw LiDAR scans and static point extractions method for ground truth static scene sparse flow generation
US10481267B2 · kind B2 · utility
6Cited by
1References
33Claims
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Key dates
| Filing date | Jun 13, 2017 |
| Grant date | Nov 19, 2019 |
| Priority date | — |
| Expiry date | Jun 13, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method of generating a ground truth dataset for motion planning of a vehicle is disclosed. The method includes: obtaining undistorted LiDAR scans; identifying, for a pair of undistorted LiDAR scans, points belonging to a static object in an environment; aligning the close points based on pose estimates; and transforming a reference scan that is close in time to a target undistorted LiDAR scan so as to align the reference scan with the target undistorted LiDAR scan.
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