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. 05, 2021
Filed:
Jan. 15, 2019
Beijing Hjimi Technology Co., Ltd, Beijing, CN;
Hang Wang, Beijing, CN;
Zan Sheng, Beijing, CN;
Shuo Li, Beijing, CN;
Xiaojun Zhou, Beijing, CN;
Li Li, Beijing, CN;
Beijing Hjimi Technology Co., Ltd, Beijing, CN;
Abstract
This application provides a depth-map-based ground detection method and apparatus. The method includes: screening first sample points according to depth values of points in a current depth map; determining space coordinates of the first sample points, and determining space heights of the first sample points according to current gravity acceleration information and the space coordinates; screening second sample points in the first sample points according to the space heights; determining an optimal ground equation according to space coordinates of the second sample points; and determining a ground point in the depth map by using the optimal ground equation. Because the accuracy of the sample points that undergo secondary screening is high, the ground detection precision is high. Because this application is not excessively dependent on a depth value, the calculation complexity is low, and operation can be performed on various hardware.