Method and apparatus for identifying laser point cloud data of autonomous vehicle
US11131999B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 3, 2018 |
| Grant date | Sep 28, 2021 |
| Priority date | — |
| Expiry date | Feb 24, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method and apparatus for identifying laser point cloud data of an autonomous vehicle provided with a lidar. A specific implementation of the method includes: acquiring current pose information of the autonomous vehicle in a world coordinate system in response to receiving a latest frame of laser point cloud data collected by the lidar; acquiring from the cache, based on the current pose information, N×N map blocks centered on map blocks corresponding to the current pose information in a preset three-dimensional grid map and pre-loaded into a cache and are; and executing, for each laser point data in the received laser point cloud data, the laser point data identification operations. The implementation realizes identifying whether each laser point data is a static laser point, and can improve the accuracy rate of identifying a laser point data obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.