Caterpillar Inc.

Susmita Dutta

Michael Sean McDaniel

Alberto Broggi

Stefano Cattani

Andrea Cappalunga

A method for generating a three dimensional grid of terrain includes receiving data representing a three-dimensional point cloud and generating a plurality of slices of the data. The method evaluates the slices using a swarm intelligence algorithm. The method is able to identify both terrain and objects. The terrain can also be identified as traversable terrain.

Mesh estimation of terrain

A control system for a mobile machine is disclosed. The control system may have a first sensor mounted on the mobile machine and configured to capture a first image of a region near the mobile machine, a second sensor mounted on the mobile machine and configured to capture a second image of the region, and a controller in communication with the first and second sensors. The controller may be configured to generate a stereo image from the first and second images, compute a disparity map of the stereo image, and generate an output to affect operation of the machine when a density of the disparity map is less than a threshold density.

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Waukesha, WI, United States of America

Susmita Dutta