Patent · US Active

Method and apparatus for representing environmental elements, system, and vehicle/robot

US11216951B2 · kind B2 · utility

0Cited by

0References

13Claims

0Family size

Assignee

Bayerische Motoren Werke Aktiengesellschaft · DE

Inventors

Maximilian Doemling · Shanghai, CN
Sebastian Granzow · Tauberbischofsheim, DE
Wanli Jiang · Shanghai, CN
Qianshan Li · Shanghai, CN
Jianpeng Li · Fujian, CN
Shuhan Lv · Shanghai, CN
Hongshan Xu · Shanghai, CN
Tao Xu · Hangzhou City, CN

Key dates

Filing date	Nov 22, 2019
Grant date	Jan 4, 2022
Priority date	—
Expiry date	Mar 12, 2040

Classification

Technology area (CPC G)Physics
CPC primaryG06T2207/30252
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

A computer-implemented method for representing environmental elements includes receiving scan data comprising at least a point cloud representing at least an environmental element from a sensor, segmenting the point cloud into point clusters, and partitioning the point clusters into hierarchical grids. The method also includes establishing a Gaussian distribution for points in each cell of each of the hierarchical grids, and constructing a Gaussian Mixture Model based on the Gaussian distribution for representing the environmental element.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.