Segmenting ground points from non-ground points to assist with localization of autonomous vehicles
US11598876B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 15, 2020 |
| Grant date | Mar 7, 2023 |
| Priority date | — |
| Expiry date | Feb 13, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2520/18
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
According to an aspect of an embodiment, operations may comprise receiving, from a LIDAR mounted on a vehicle, a first 3D point cloud comprising points of a region around the vehicle as observed by the LIDAR. The operations may also comprise accessing an HD map comprising a second 3D point cloud comprising points of the region around the vehicle. The operations may also comprise segmenting LIDAR ground points from LIDAR non-ground points in the first 3D point cloud. The operations may also comprise segmenting map ground points from map non-ground points in the second 3D point cloud. The operations may also comprise determining a pose of the vehicle by matching the LIDAR ground points to the map ground points and by matching the LIDAR non-ground points to the map non-ground points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.