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:
May. 10, 2022
Filed:
Mar. 03, 2020
Apollo Intelligent Driving Technology (Beijing) Co., Ltd., Beijing, CN;
Abstract
Embodiments of the present disclosure relate to a method and apparatus for detecting ground point cloud points. The method may include: determining a segmentation plane and a ground based on a point cloud collected by a lidar; segmenting the point cloud into a first sub point cloud and a second sub point cloud based on the segmentation plane; and determining the point cloud points whose distances from the ground are smaller than a first distance threshold in the first sub point cloud as ground point cloud points, and determining the point cloud points whose distances from the ground are smaller than a second distance threshold in the second sub point cloud as the ground point cloud points, where the first distance threshold is smaller than the second distance threshold.