Classifying sensor data as being associated with ground (as opposed to an object) may include determining a plurality of channels having returned sensor data therein, setting a plurality of control points and a plurality of nodes of a curve based at least in part on the plurality of channels having the returned, and fitting a curve having a plurality of control points and a plurality of nodes to the sensor data. The curve may be used to differentiate: sensor data associated with the ground; and sensor data associated with the object. Determining the curve may additionally or alternatively include limiting elevation values of the control points and/or nodes based on elevation values of the sensor data, weighting the sensor data based at least in part on elevation values associated with the sensor data, and/or adjusting node spacing, etc.
将传感器数据分类为与地面相关联(与物体相反)可以包括:确定其中具有返回的传感器数据的多个通道,至少部分地基于具有返回的多个通道来设置曲线的多个控制点和多个结点,并且将具有多个控制点和多个结点的曲线拟合到传感器数据。该曲线可以用于区分:与地面相关联的传感器数据;以及与物体相关联的传感器数据。确定曲线可以附加地或可替代地包括:基于传感器数据的高程值限制控制点和/或结点的高程值,至少部分地基于与传感器数据相关联的高程值来加权传感器数据,和/或调整结点间隔等。
Complex ground profile estimation
复杂地面轮廓估计
2022-05-27
Patent
Electronic Resource
Chinese
IPC: | 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 |
Engineering Index Backfile | 1955
ROAD PROFILE ESTIMATION APPARATUS AND ROAD PROFILE ESTIMATION METHOD
European Patent Office | 2019