Voxel based multiresolution ground plane detection
US12260625B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 30, 2022 |
| Grant date | Mar 25, 2025 |
| Priority date | — |
| Expiry date | Sep 25, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Techniques for determining ground surface voxels based on multiresolution planes are discussed herein. Such multiresolution planes may be generated, validated, and used to connect voxels associated with the ground. In some examples, a vehicle may use capture or otherwise receive lidar data while traversing within a driving environment. The vehicle may associate the lidar data with a voxel space. Voxels can be associated with a cell of a multiresolution grid and the vehicle may determine multiresolution planes associated with the multiresolution space. For example, the vehicle may determine a first plane associated with a first resolution level, in addition to determining a plurality of planes associated with a second resolution level. The vehicle may determine the validity of the plane(s) at the various resolution levels. Based on the validity of the planes, the vehicle may connect the valid planes that are associated with the ground surface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.