System and method for ground plane detection
US10705534B2 · 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 primaryG05D1/0088
- WIPO fieldControl
- 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 of the plurality of range measurements as ground points or non-ground points based on one or more point criteria. The one or more point criteria can include a ground projection criterion and an angular variation criterion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.