Time of flight data segmentation
US10929711B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 6, 2019 |
| Grant date | Feb 23, 2021 |
| Priority date | — |
| Expiry date | Jul 18, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/13
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Techniques are discussed for segmenting sensor data captured by a sensor to remove a ground surface from the sensor data. A first technique includes capturing sensor data represented as multichannel image and segmenting the image according to image processing techniques. The ground surface can be removed from the sensor data, and a subset of the sensor data can be associated with a voxel space. A second technique includes capturing sensor data and unprojecting the sensor data to generate three dimensional data, which can be associated with a voxel space. Ground plane data associated with a location can be accessed or determined and voxel data that is within a threshold height of the ground plane data can be removed from the voxel space. Clustering techniques can determine objects represented in the data, and a vehicle can be controlled based on the objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.