Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate a prediction for a state of an environment. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises an uncertainty measure; obtaining sensor data for one or more locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining one or more particular surfels corresponding to respective locations of the obtained sensor data; and combining the surfel data and the sensor data to generate a respective object prediction for each of the one or more locations of the obtained sensor data.


    Access

    Download


    Export, share and cite



    Title :

    AUTONOMOUS DRIVING WITH SURFEL MAPS



    Publication date :

    2021-12-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    AUTONOMOUS DRIVING WITH SURFEL MAPS

    HERNANDEZ ESTEBAN CARLOS / MONTEMERLO MICHAEL / PAWLOWSKI PETER et al. | European Patent Office | 2023

    Free access

    AUTONOMOUS DRIVING WITH SURFEL MAPS

    HERNANDEZ ESTEBAN CARLOS / MONTEMERLO MICHAEL / PAWLOWSKI PETER et al. | European Patent Office | 2024

    Free access

    Autonomous driving with surfel maps

    HERNANDEZ ESTEBAN CARLOS / MONTEMERLO MICHAEL / PAWLOWSKI PETER et al. | European Patent Office | 2023

    Free access

    AUTONOMOUS DRIVING WITH SURFEL MAPS

    SPRUNK CHRISTOPH / SILVER DAVID HARRISON / ESTEBAN CARLOS HERNANDEZ et al. | European Patent Office | 2022

    Free access

    AUTONOMOUS DRIVING WITH SURFEL MAPS

    HERNANDEZ ESTEBAN CARLOS / MONTEMERLO MICHAEL / PAWLOWSKI PETER et al. | European Patent Office | 2021

    Free access