Estimating ground height based on lidar data
US11623661B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 12, 2020 |
| Grant date | Apr 11, 2023 |
| Priority date | — |
| Expiry date | Apr 23, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Techniques for controlling a vehicle based on height data and/or classification data being determined utilizing multi-channel image data are discussed herein. The vehicle can capture lidar data as it traverses an environment. The lidar data can be associated with a voxel space as three-dimensional data. Semantic information can be determined and associated with the lidar data and/or the three-dimensional voxel space. A multi-channel input image can be determined based on the three-dimensional voxel space and input into a machine learned (ML) model. The ML model can output data to determine height data and/or classification data associated with a ground surface of the environment. The height data and/or classification data can be utilized to determine a mesh associated with the ground surface. The mesh can be used to control the vehicle and/or determine additional objects proximate the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.