Sensor localization
US12046132B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 17, 2021 |
| Grant date | Jul 23, 2024 |
| Priority date | — |
| Expiry date | Sep 15, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
First feature points can be determined which correspond to pose-invariant surface model properties based on first data points included in a first lidar point cloud acquired by a sensor. A three-dimensional occupancy grid can be determined based on first data points included in the first lidar point cloud. Dynamic objects in a second lidar point cloud acquired by the sensor can be determined based on the occupancy grid. Second feature points can be determined which correspond to pose-invariant surface model properties based on second data points included in the second lidar point cloud not including the dynamic objects. A difference can be determined between corresponding feature points included in the first feature points and the second feature points. A traffic infrastructure system can be alerted based on the difference exceeding a threshold.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.