Bayerische Motoren Werke Aktiengesellschaft

Jianpeng Li

Tao Xu

Qianshan Li

Maximilian Doemling

Wanli Jiang

Sebastian Granzow

Shuhan Lv

Hongshan Xu

A method and an apparatus optimizes scan data obtained by sensors on vehicle, and corrects trajectory for a vehicle/robot based on the optimized scan data. The method for optimizing the scan data obtained by scanning environment elements, includes: step of obtaining the scan data, including obtaining at least two frames of scan data respectively corresponding to different timings; step of cluster processing, based on the characteristic of the data points, including classifying the plurality of data points in each frame of the scan data into one or more clusters; step of establishing correspondence, among the at least two frames of scan data, including searching and obtaining at least one set of clusters having correspondence; step of optimizing clusters, among the at least two frames of scan data, including conducting calculation to each set of the at least one set of clusters having correspondence, to obtain optimized clusters respectively corresponding to each set of the at least one set of clusters having correspondence; and step of optimizing the scan data, including accumulating all optimized clusters to obtain an optimized scan date for the at least two frames of scan data.

Method and apparatus for optimizing scan data and method and apparatus for correcting trajectory

A method and apparatus for selecting a map from a plurality of maps having different resolutions for a moving object includes dynamically selecting an appropriate map from maps having different levels of details according to environment information, such that a minimum amount of required map is loaded, thereby effectively improving the data processing efficiency of vehicles.

Methods and apparatus for selecting a map for a moving object, system, and vehicle/robot

A computer-implemented method for representing environmental elements includes receiving scan data comprising at least a point cloud representing at least an environmental element from a sensor, segmenting the point cloud into point clusters, and partitioning the point clusters into hierarchical grids. The method also includes establishing a Gaussian distribution for points in each cell of each of the hierarchical grids, and constructing a Gaussian Mixture Model based on the Gaussian distribution for representing the environmental element.

Method and apparatus for representing environmental elements, system, and vehicle/robot

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Suzhou, China

Jianpeng Li