False positive object removal with surfel maps
US12298400B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 27, 2022 |
| Grant date | May 13, 2025 |
| Priority date | — |
| Expiry date | Jul 28, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.