System and method for drivable road surface representation generation using multimodal sensor data
First Claim
Patent Images
1. A system comprising:
- a data processor; and
a multimodal drivable road surface detection module, executable by the data processor, the multimodal drivable road surface detection module being configured to perform a multimodal drivable road surface detection operation configured to;
receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle;
project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data;
perform post-processing operations on the mapped image and point cloud data, the post-processing operations being configured to perform an outlier detection process to remove outlier points of the point cloud data that do not correspond to a flat road surface captured in the image data, the post-processing operations being further configured to perform a density-based spatial clustering process to remove outlier points of the point cloud data that do not correspond to a point cluster; and
perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
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Abstract
A system and method for drivable road surface representation generation using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle and receiving three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle; projecting the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data; performing post-processing operations on the mapped image and point cloud data; and performing a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
115 Citations
20 Claims
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1. A system comprising:
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a data processor; and a multimodal drivable road surface detection module, executable by the data processor, the multimodal drivable road surface detection module being configured to perform a multimodal drivable road surface detection operation configured to; receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle; project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data; perform post-processing operations on the mapped image and point cloud data, the post-processing operations being configured to perform an outlier detection process to remove outlier points of the point cloud data that do not correspond to a flat road surface captured in the image data, the post-processing operations being further configured to perform a density-based spatial clustering process to remove outlier points of the point cloud data that do not correspond to a point cluster; and perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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receiving image data from an image generating device mounted on a vehicle and receiving three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle; projecting the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data; performing post-processing operations on the mapped image and point cloud data, the post-processing operations including performing an outlier detection process to remove outlier points of the point cloud data that do not correspond to a flat road surface captured in the image data, the post-processing operations including performing a density-based spatial clustering process to remove outlier points of the point cloud data that do not correspond to a point cluster; and performing a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
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receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle; project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data; perform post-processing operations on the mapped image and point cloud data, the post-processing operations being configured to perform an outlier detection process to remove outlier points of the point cloud data that do not correspond to a flat road surface captured in the image data, the post-processing operations being further configured to perform a density-based spatial clustering process to remove outlier points of the point cloud data that do not correspond to a point cluster; and perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation. - View Dependent Claims (18, 19, 20)
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Specification