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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.:

US 11733353 B1

PDFFull Text
Date of Patent:
Aug. 22, 2023

Filed:

Feb. 04, 2020

Object detection using local (ground-aware) adaptive region proposals on point clouds

Applicant:

Nio Technology (Anhui) Co., Ltd., Anhui, CN;

Inventors:

Arun C S Kumar, Milpitas, CA (US);

Disha Ahuja, San Jose, CA (US);

Ashwath Aithal, Fremont, CA (US);

Assignee:

NIO Technology (Anhui) Co., Ltd., Hefei, CN;

Attorney:

Sheridan Ross, PC

Primary Examiner:

Jayesh A Patel

Int. Cl.
CPC ...
G06K 9/46 (2006.01); G01S 7/48 (2006.01); G01C 21/26 (2006.01); G06T 17/00 (2006.01); G01S 17/89 (2020.01); G06T 11/20 (2006.01); G06T 7/10 (2017.01); G06T 7/11 (2017.01); G01S 17/931 (2020.01); G01S 17/42 (2006.01); G06T 3/40 (2006.01); G06F 18/24 (2023.01); G06V 10/25 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01);
U.S. Cl.
CPC ...
G01S 7/4808 (2013.01); G01C 21/26 (2013.01); G01S 7/4802 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G06F 18/24 (2023.01); G06T 3/40 (2013.01); G06T 7/10 (2017.01); G06T 7/11 (2017.01); G06T 11/20 (2013.01); G06T 17/00 (2013.01); G06V 10/25 (2022.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01); G06T 2210/12 (2013.01);
Abstract

Embodiments include a method for object detection in a Light Detection And Ranging (LiDAR) point cloud, the method comprising: placing, by a navigation system, a plurality of anchor points in a two-dimensional Bird's Eye View (BEV) of spatial points represented in a segmented ground surface representation of objects detected by a LiDAR system; extracting, by the navigation system, one or more features from the two-dimensional BEV of the spatial points; proposing, by the navigation system, one or more regions of the two-dimensional BEV of the spatial points for object detection; and performing, by the navigation system, object detections on anchor points of the plurality of anchor points in the proposed one or more regions of the two-dimensional BEV of the spatial points.

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