Point clouds ghosting effects detection system for autonomous driving vehicles
US11315317B2 · kind B2 · utility
4Cited by
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21Claims
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Key dates
| Filing date | Jan 30, 2019 |
| Grant date | Apr 26, 2022 |
| Priority date | — |
| Expiry date | Jun 1, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2219/2004
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequent frames, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematic voxels belong to a wall object, and in response to determining that the problematic voxels belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequent frame.
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