Detection and tracking of road-side pole-shaped static objects from LIDAR point cloud data
US11391844B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 19, 2018 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Jul 14, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Systems and methods of detecting and tracking a pole-shaped object proximate to a vehicle comprise down-sampling three-dimensional (3D) light detection and ranging (LIDAR) point cloud data for each of a plurality of frames according to a user-configurable voxel size, filtering the down-sampled 3D LIDAR point cloud data to remove data points corresponding to ground surface reflections, dividing the 3D LIDAR point cloud data into a plurality of clusters that are parallel to the vehicle's moving direction, projecting the plurality of clusters to a plane that is parallel to sides of the vehicle to generate an image, detecting a pole-shaped object in the image, and tracking the pole-shaped object by deep sorting across multiple frames of the plurality of frames.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.