An autonomous vehicle system removes ephemeral points from lidar samples. The system receives a plurality of light detection and ranging (lidar) samples captured by a lidar sensor. Along with the lidar samples, the system receives an aligned pose and an unwinding transform for each of the lidar samples. The system determines one or more occupied voxel cells in a three-dimensional (3D) space using the lidar samples, their aligned poses, and their unwinding transforms. The system identifies occupied voxel cells representative of noise associated with motion of an object relative to the lidar sensor. The system filters the occupied voxel cells by removing the cells representative of noise. The system inputs the filtered occupied voxel cells in a 3D map comprising voxel cells, e.g., during the map generation and/or a map update.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Removal of ephemeral points from point cloud of a high-definition map for navigating autonomous vehicles


    Beteiligte:
    CHEN CHEN (Autor:in) / ZOU LIANG (Autor:in) / SCHROETER DERIK (Autor:in) / WHEELER MARK DAMON (Autor:in)

    Erscheinungsdatum :

    2023-06-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    REMOVAL OF EPHEMERAL POINTS FROM POINT CLOUD OF A HIGH-DEFINITION MAP FOR NAVIGATING AUTONOMOUS VEHICLES

    CHEN CHEN / ZOU LIANG / SCHROETER DERIK et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    DETECTION OF MISALIGNMENT HOTSPOTS FOR HIGH DEFINITION MAPS FOR NAVIGATING AUTONOMOUS VEHICLES

    CHEN CHEN / WHEELER MARK DAMON / ZOU LIANG | Europäisches Patentamt | 2022

    Freier Zugriff

    Detection of misalignment hotspots for high definition maps for navigating autonomous vehicles

    CHEN CHEN / WHEELER MARK DAMON / ZOU LIANG | Europäisches Patentamt | 2022

    Freier Zugriff

    Traffic sign feature creation for high definition maps used for navigating autonomous vehicles

    WHEELER MARK DAMON / YANG LIN / MILLER DEREK THOMAS et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Enrichment of point cloud data for high-definition maps for autonomous vehicles

    YANG LIN | Europäisches Patentamt | 2019

    Freier Zugriff