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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 11754719 B1

PDFFull Text
Date of Patent:
Sep. 12, 2023

Filed:

Jul. 30, 2021

Object detection based on three-dimensional distance measurement sensor point cloud data

Applicant:

GM Cruise Holdings Llc, San Francisco, CA (US);

Inventors:

Sandeep Gangundi, Milpitas, CA (US);

Sarthak Sahu, Palo Alto, CA (US);

Nathan Harada, San Francisco, CA (US);

Phil Ferriere, Palo Alto, CA (US);

Assignee:

GM Cruise Holdings LLC, San Francisco, CA (US);

Attorney:

Novak Druce Carroll LLP

Primary Examiner:

Yingchun He

Int. Cl.
CPC ...
G01S 17/894 (2020.01); G06T 7/50 (2017.01); G06T 15/08 (2011.01); G06V 20/58 (2022.01); G06V 10/80 (2022.01); G06V 10/82 (2022.01); G06V 10/44 (2022.01); G01S 15/89 (2006.01); G01S 13/89 (2006.01); G01S 17/89 (2020.01);
U.S. Cl.
CPC ...
G01S 17/894 (2020.01); G06T 7/50 (2017.01); G06T 15/08 (2013.01); G06V 10/454 (2022.01); G06V 10/803 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G01S 13/89 (2013.01); G01S 15/89 (2013.01); G01S 17/89 (2013.01); G06T 2200/04 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30261 (2013.01);
Abstract

Distance measurements are received from one or more distance measurement sensors, which may be coupled to a vehicle. A three-dimensional (3D) point cloud are generated based on the distance measurements. In some cases, 3D point clouds corresponding to distance measurements from different distance measurement sensors may be combined into one 3D point cloud. A voxelized model is generated based on the 3D point cloud. An object may be detected within the voxelized model, and in some cases may be classified by object type. If the distance measurement sensors are coupled to a vehicle, the vehicle may avoid the detected object.

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