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:
Dec. 23, 2025
Filed:
Jun. 12, 2023
GM Cruise Holdings Llc, San Francisco, CA (US);
Zhanping Xu, Sunnyvale, CA (US);
Glenn D. Sweeney, Sebastopol, CA (US);
Brandon S. Seilhan, San Ramon, CA (US);
Juan Sebastian Hurtado Jaramillo, Oakland, CA (US);
Kartheek Chandu, Dublin, CA (US);
Alexander Lesnick, Alexandria, VA (US);
Robert Vets, Seattle, WA (US);
GM CRUISE HOLDINGS LLC, San Francisco, CA (US);
Abstract
Systems and techniques are provided for identifying and filtering edge pixels from a 3D point cloud from a time-of-flight sensor. An example method includes receiving a first depth map that is based on an image frame captured by a time-of-flight (ToF) sensor, wherein the first depth map includes a plurality of measurements corresponding to a pixel array of the ToF sensor; generating a second depth map by shifting the plurality of measurements corresponding to the pixel array in at least one direction; comparing the first depth map with the second depth map to determine a measurement difference for each pixel in the pixel array; and identifying one or more edge pixels in the pixel array corresponding to at least one edge region in the image frame, wherein the measurement difference associated with the one or more edge pixels is greater than an edge threshold.