Generation of polar occlusion maps for autonomous vehicles
US11326888B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 7, 2018 |
| Grant date | May 10, 2022 |
| Priority date | — |
| Expiry date | Sep 7, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T7/55
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, a vehicle computing system can receive sensor data including information based on sensor outputs associated with detection of objects in an environment by sensors of a vehicle. Inflection points can be determined based at least in part on the sensor data. The inflection points can correspond to portions of the objects that occlude detection of the environment beyond the portions of the objects. A set of polar coordinates can be determined for each of the one or more inflection points. The set of polar coordinates can include a distance from the sensors to a portion of the objects and an angle of the sensor with respect to the portion of the objects. Furthermore, sparse map data including the set of polar coordinates can be generated based on the set of polar coordinates.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.