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:
Jun. 13, 2023
Filed:
Jun. 03, 2020
Waymo Llc, Mountain View, CA (US);
Michael Montemerlo, Mountain View, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using surfels for vehicle localization. One of the methods includes obtaining surfel data comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment, and each surfel has associated data that comprises a stability measure, wherein the stability measure characterizes a permanence of a surface represented by the surfel; obtaining sensor data for a plurality of locations in the environment, the sensor data having been captured by one or more sensors of a first vehicle; determining a plurality of high-stability surfels from the plurality of surfels in the surfel data; and determining a location in the environment of the first vehicle using the plurality of selected high-stability surfels and the sensor data.