Removing extraneous objects from maps
US8565958B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 2, 2011 |
| Grant date | Oct 22, 2013 |
| Priority date | — |
| Expiry date | Aug 22, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG09B29/106
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, laser data including locations, intensities, and elevation data may be collected along a roadway in order to generate a 3D map of the roadway. In order to remove extraneous objects such as moving vehicles from the 3D map, a 2D grid of the roadway may be generated. The grid may include a plurality of cells, each representing an area of the roadway. The collected data may be sorted into the grid based on location and then evaluated to identify the lowest elevation of the cell. All data points above some threshold distance above this lowest elevation may be removed. The resulting data points may be used to generate a 3D map of the roadway which excludes the extraneous objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.