Nearest neighbor search using compressed octrees representing high definition maps for autonomous vehicles
US11460580B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 17, 2020 |
| Grant date | Oct 4, 2022 |
| Priority date | — |
| Expiry date | Dec 18, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F16/29
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
According to an aspect of an embodiment, operations may comprise receiving a search query for points near a query-point, accessing a compressed octree representation of a point cloud comprising 3D points of a region, and traversing the compressed octree representation to identify regions that overlap a search space by, marking a current node as overlapping the search space responsive to determining that the current node is a leaf node, identifying a child node of the current node and performing a nearest neighbor search in the child node responsive to determining that a region represented by the current node overlaps the search space, and identifying a sibling node of the current node and performing the nearest neighbor search in the sibling node responsive to determining that a region represented by the current node does not overlap the search space.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.