Removal of ephemeral points from point cloud of a high-definition map for navigating autonomous vehicles
US11675083B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 2, 2020 |
| Grant date | Jun 13, 2023 |
| Priority date | — |
| Expiry date | Dec 29, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2420/408
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An autonomous vehicle system removes ephemeral points from lidar samples. The system receives a plurality of light detection and ranging (lidar) samples captured by a lidar sensor. Along with the lidar samples, the system receives an aligned pose and an unwinding transform for each of the lidar samples. The system determines one or more occupied voxel cells in a three-dimensional (3D) space using the lidar samples, their aligned poses, and their unwinding transforms. The system identifies occupied voxel cells representative of noise associated with motion of an object relative to the lidar sensor. The system filters the occupied voxel cells by removing the cells representative of noise. The system inputs the filtered occupied voxel cells in a 3D map comprising voxel cells, e.g., during the map generation and/or a map update.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.