The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 09, 2019
Filed:
May. 25, 2017
General Motors Llc, Detroit, MI (US);
David H. Clifford, Royal Oak, MI (US);
David J. Hiemenga, Grand Rapids, MI (US);
GENERAL MOTORS LLC, Detroit, MI (US);
Abstract
A method and apparatus for classifying light detection and ranging sensor data are provided. The method includes transforming sensor data of the LIDAR into point cloud data, selecting a cell including a subset of the point cloud data, dividing the selected cell into a plurality of voxels, calculating a difference of gradients for the plurality of voxels, performing a first pass on the plurality of voxels to identify voxels that contain an object based the difference of gradients, performing a second pass on the plurality of voxels to identify voxels that contain the object by adjusting a voxel with at least one from among a jitter parameter and a rotation parameter, and outputting a centroid average of voxels identified as containing the object.