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:
Nov. 02, 2021
Filed:
Dec. 17, 2020
Applicant:
Motional Ad Llc, Boston, MA (US);
Inventors:
Assignee:
Motional AD LLC, Boston, MA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B60W 60/00 (2020.01); G06K 9/62 (2006.01); G01S 17/931 (2020.01); G01S 17/42 (2006.01); G01S 7/48 (2006.01); B60W 30/095 (2012.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); B60W 40/076 (2012.01);
U.S. Cl.
CPC ...
B60W 60/001 (2020.02); B60W 30/0956 (2013.01); B60W 40/076 (2013.01); G01C 21/3453 (2013.01); G01C 21/3691 (2013.01); G01S 7/4808 (2013.01); G01S 17/42 (2013.01); G01S 17/931 (2020.01); G06K 9/6298 (2013.01); B60W 2420/52 (2013.01); B60W 2552/15 (2020.02);
Abstract
Techniques are provided for foreground extraction from a point cloud (e.g., a LiDAR point cloud) using surface fitting. In an embodiment, one or more processors of a vehicle can receive point cloud data from one or more vehicle sensors. The one or more processors can identify points in the point cloud data as foreground points or ground points using a spatial Kalman filter to capture changes in the terrain. A route or trajectory in a driving area for the vehicle can be generated using the identified foreground points and ground points. A vehicle controller can control the vehicle while the vehicle is traveling on the route or trajectory in the driving area.