Automatic localization geometry detection
First Claim
1. A method for automatic generation of a localization geometry, the method comprising:
- receiving point cloud data collected by a distance sensor and describing a vicinity of a pathway;
reducing, by a processor, the point cloud data to a predetermined volume with respect to the pathway;
projecting, by the processor, the point cloud data to a two-dimensional plane including at least one pixel formation;
defining, by the processor, a volumetric grid according to the at least one pixel formation;
determining, by the processor, a voxel occupancy for each of a plurality of voxels forming the volumetric grid; and
generating, by the processor, the localization geometry according to the voxel occupancy.
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Abstract
Embodiments include apparatus and methods for generating a localization geometry or occupancy grid for a geographic location. Point cloud that describes a vicinity of a pathway is collected by a distance sensor and describing a vicinity of the pathway. The point cloud data is reduced or filtered to a predetermined volume with respect to the roadway. The remaining point cloud data is projected onto a two-dimensional plane including at least one pixel formation. A volumetric grid is defined according to the at least one pixel formation, and a voxel occupancy for each of a voxels forming the volumetric grid is determined. The arrangement of the voxel occupancies or a sequence of data describing the voxel occupancies is a localization geometry that describes the geographic location of the pathway.
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Citations
20 Claims
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1. A method for automatic generation of a localization geometry, the method comprising:
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receiving point cloud data collected by a distance sensor and describing a vicinity of a pathway; reducing, by a processor, the point cloud data to a predetermined volume with respect to the pathway; projecting, by the processor, the point cloud data to a two-dimensional plane including at least one pixel formation; defining, by the processor, a volumetric grid according to the at least one pixel formation; determining, by the processor, a voxel occupancy for each of a plurality of voxels forming the volumetric grid; and generating, by the processor, the localization geometry according to the voxel occupancy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus for automatic generation of a localization geometry of a roadway, the apparatus comprising:
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a communication interface configured to receive point cloud data collected by a distance sensor and describing a vicinity of a roadway; and a controller configured to reduce the point cloud data to a predetermined volume with respect to the roadway, project the point cloud data to a two-dimensional plane including at least one pixel formation, and determine a voxel occupancy for each of a plurality of voxels corresponding to the at least one pixel formation, wherein the voxel occupancy for a grid defines the localization geometry of the roadway. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A system for automatic generation of a localization geometry of a roadway, the system comprising:
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a distance sensor configured to receive point cloud data collected by a distance sensor and describing a vicinity of a roadway; and a controller configured to reduce the point cloud data to a predetermined volume with respect to the roadway and project the point cloud data to a two-dimensional plane including at least one pixel formation, wherein the localization geometry includes a volumetric grid is populated according to a voxel occupancy value for at least one pixel formation.
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Specification