Ground profile estimation for sensor data

Abstract

Techniques for estimating a ground profile, including a ground height (e.g., elevation) and ground roll, for an environment associated with a vehicle are described herein. Sensor data associated with a vehicle may be used to determine sensor data points associated with a path of the vehicle. Based on an upper bound slope and lower bound slope, such as a maximum and/or minimum rate of ground roll change, a region (e.g., search window) may be determined. Based on the region, a subset of sensor data points included in the region may be determined. The subset of sensor data points may be used to determine a representative height and representative roll. In some instances, the representative height and representative roll may be determined using a Hough transform and the subset of sensor data points. A ground profile may be determined based on the representative height and representative roll.