Among other things, techniques are described for spatially and temporally consistent ground modelling with information fusion. A vehicle location and orientation is obtained and an instantaneous ground height estimation is obtained for anchor cells of a grid map of the vehicle based on the obtained vehicle location and orientation. A pseudo ground height associated with non-anchor cells of the grid map is computed. A Bayesian filtering framework is used to generate a final ground height estimate for the anchor cells and the non-anchor cells based on the instantaneous ground height estimation for the anchor cells, the pseudo ground height associated with non-anchor cells, an estimated ground height from a previous timestamp, or any combinations thereof. The vehicle operates according to the final ground height estimate.


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    Title :

    SPATIALLY AND TEMPORALLY CONSISTENT GROUND MODELLING WITH INFORMATION FUSION


    Contributors:

    Publication date :

    2023-03-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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