Here Global B.v.

Fangning He

David Doria

Engin Burak Anil

Xin Chen

Charles Morcom

Matthew Emery Goss

Nezih Ergin Ozkucur

An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.

Automatic positioning of 2D image sign sightings in 3D space

Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.

Automatic detection of overhead obstructions

Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.

Automatic detection and positioning of pole-like objects in 3D

Embodiments include apparatus and methods for automatic generation of local window-based 2D occupancy grids that represent roadside objects at a region of a roadway and automatic localization based on the 2D occupancy grids. 2D occupancy grids are generated based on an altitude threshold for point cloud data and grid cell occupancy for grid cells of local windows associated with the region of the roadway. The 2D occupancy grids are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed 2D occupancy grids and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.

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Chicago, IL, United States of America

Fangning He