Techniques for estimating a height range of an object in an environment are discussed herein. For example, a sensor, such as a lidar sensor, may capture three-dimensional data of an environment. Sensor data may be associated with a two-dimensional representation. Ground may be removed from the sensor data, and a clustering technique may be used to cluster the remaining sensor data provided in the two-dimensional representation to determine the object represented therein. The height of a sensor object may be represented as a first height based on a range of sensor data associated with the object, or may be represented as a second height based on the sensor data and/or a beam spread aspect of sensor data associated with other objects. Thus, the minimum and/or maximum height of the object can be determined in a robust manner. This height range may be used to control an autonomous vehicle.
本文讨论了用于估计环境中的物体的高度范围的技术。例如,传感器,诸如激光雷达传感器,可以捕获环境的三维数据。传感器数据可以与二维表示相关联。地面可以从传感器数据中去除,聚类技术可以用于对二维表示中提供的剩余传感器数据进行聚类,以确定其中表示的物体。传感器物体的高度可以基于与该物体相关联的传感器数据的范围表示为第一高度,也可以基于传感器数据和/或与其他物体相关联的传感器数据的波束扩散方面表示为第二高度。因此,物体的最小和/或最大高度可以以稳健的方式确定。这种高度范围可以用于控制自主交通工具。
Height estimation using sensor data
使用传感器数据进行高度估计
2022-07-15
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |