The technology relates to operation of a vehicle in a self-driving mode by determining the presence of occlusions in the environment around the vehicle. Raw sensor data for one or more sensors is received and a range image for each sensor based is computed based on the received data. The range image data may be corrected in view of obtained perception information from other sensors, heuristic analysis and/or a learning-based approach to fill gaps in the data or to filter out noise. The corrected data may be compressed prior to packaging into a format for consumption by onboard and offboard systems. These systems can obtain and evaluate the corrected data for use in real time and non-real time situations, such as performing driving operations, planning an upcoming route, testing driving scenarios, etc.
SENSOR FIELD OF VIEW IN A SELF-DRIVING VEHICLE
SENSORSICHTFELD IN EINEM SELBSTFAHRENDEN FAHRZEUG
CHAMP DE VISION DE CAPTEUR DANS UN VÉHICULE AUTONOME
2023-09-13
Patent
Elektronische Ressource
Englisch
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