Techniques for estimating ground height based on lidar data are discussed herein. A vehicle captures lidar data as it traverses an environment. The lidar data can be associated with a voxel space as three-dimensional data. Semantic information can be determined and associated with the lidar data and/or the three-dimensional voxel space. A multi-channel input image can be determined based on the three-dimensional voxel space and input into a machine learned (ML) model. The ML model can output data to determine height data and/or classification data associated with a ground surface of the environment. The height data and/or classification data can be utilized to determine a mesh associated with the ground surface. The mesh can be used to control the vehicle and/or determine additional objects proximate the vehicle.


    Access

    Download


    Export, share and cite



    Title :

    ESTIMATING GROUND HEIGHT BASED ON LIDAR DATA


    Contributors:

    Publication date :

    2022-04-14


    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



    ESTIMATING GROUND HEIGHT BASED ON LIDAR DATA

    COSTEA ARTHUR DANIEL / MAHIEU ROBERT EVAN / PFEIFFER DAVID et al. | European Patent Office | 2024

    Free access

    Estimating ground height based on lidar data

    COSTEA ARTHUR DANIEL / MAHIEU ROBERT EVAN / PFEIFFER DAVID et al. | European Patent Office | 2023

    Free access

    Estimating SPARCLE Shuttle Lidar Performance with Ground Based Doppler Lidar

    Hardesty, R. M. / Brewer, W. A. / Rye, B. J. | British Library Conference Proceedings | 1998


    Azimuth-Height Background Filtering Method for Roadside LiDAR Data

    Zhao, Junxuan / Xu, Hao / Xia, Xueting et al. | IEEE | 2019


    METHOD AND APPARATUS FOR ESTIMATING OBJECT DISTANCE BASED ON STATIC OBJECT AND GROUND HEIGHT DIFFERENCE

    LEE JUNG WON / AN JUN SIK | European Patent Office | 2024

    Free access