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:
Feb. 22, 2022
Filed:
Feb. 04, 2020
Nio Usa, Inc., San Jose, CA (US);
Zachary M. Kendrick, Irvine, CA (US);
Disha Ahuja, San Jose, CA (US);
Ashwath Aithal, Fremont, CA (US);
NIO USA, Inc., San Jose, CA (US);
Abstract
Embodiments include a method for pruning anchor points from a feature map generated from a Light Detections And Ranging (LiDAR) point cloud, the method comprising: receiving, by a navigation system, a LiDAR point cloud from a LiDAR sensor, the LiDAR point cloud comprising data representing one or more objects in physical surroundings detected by the LiDAR sensor; extracting, by the navigation system, a feature map from the LiDAR point cloud, the feature map comprising a plurality of anchor points, each anchor point defined by an anchor box; smoothing, by the navigation system, the extracted feature map; determining, by the navigation system, density of pixels within the anchor box of each anchor point; and pruning, by the navigation system, anchor points from the feature map based on a plurality of factors related to the determined density of pixels within the box of each anchor point.