System and method for ground and free-space detection
US10705220B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 19, 2018 |
| Grant date | Jul 7, 2020 |
| Priority date | — |
| Expiry date | Apr 19, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Improved processing of sensor data (e.g., LiDAR data) can be used to distinguish between free space and objects/hazards. Autonomous vehicles can use such information for performing autonomous driving and/or parking operations. LiDAR data can include a plurality of range measurements (e.g., forming a 3D point cloud). Each of the range measurements can correspond to a respective LiDAR channel and azimuth angle. The processing of LiDAR data can include identifying one or more paths as candidate ground paths based on one or more path criteria. The processing of LiDAR data can also include identifying one or more of the plurality of range measurements as ground points or non-ground points based on the one or more paths identified as candidate ground paths and based on one or more point criteria.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.