Real-time 3D point cloud obstacle discriminator apparatus and associated methodology for training a classifier via bootstrapping
US8605998B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 6, 2011 |
| Grant date | Dec 10, 2013 |
| Priority date | — |
| Expiry date | Jun 26, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/64
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Training a strong classifier by classifying point cloud data with a first classifier, inferring a first terrain map from the classified point cloud data, reclassifying the point cloud data with the first classifier based on the first terrain map, and training a second classifier based on the point cloud data reclassified with the first classifier based on the terrain map. The point cloud data is then classified with the second classifier, and the procedure followed with the first classifier is iteratively repeated until a strong classifier is determined. A strong classifier is determined when a probability of a terrain map matching a given terrain for the strong classifier is approximately equal to a probability of a terrain map matching the given terrain for a prior trained classifier.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.