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:
Jan. 07, 2020
Filed:
Feb. 23, 2018
GM Global Technology Operations Llc, Detroit, MI (US);
University of Southern California, Los Angeles, CA (US);
Fawad Ahmad, Los Angeles, CA (US);
Hang Qiu, Los Angeles, CA (US);
Fan Bai, Ann Arbor, MI (US);
Ramesh Govindan, Cerritos, CA (US);
GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US);
UNIVERSITY OF SOUTHERN CALIFORNIA, Los Angeles, CA (US);
Abstract
Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from a sensor of the vehicle; determining a three dimensional point cloud map segment from the sensor data; determining a vehicle pose associated with the three-dimensional point cloud map segment; determining a pose difference based on the vehicle pose, another vehicle pose, and a two-step process, wherein the two-step process includes computing a coarse-granularity pose difference, and computing a fine-granularity pose difference; aligning the three dimensional point cloud map segment with another three dimensional point cloud map segment associated with the other vehicle pose based on the pose difference; and controlling the vehicle based on the aligned three dimensional point cloud map segments.