SYSTEM AND METHOD FOR NAVIGATING AN AUTONOMOUS VEHICLE USING LASER DETECTION AND RANGING
First Claim
1. A system for providing information for autonomous vehicle navigation, the system comprising:
- at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle;
a geo-location unit for the autonomous vehicle, the geo-location unit comprising one or more global positioning system sensors, and one or more inertial navigation system sensors; and
at least one processor in operative communication with the laser scanner and the geo-location unit, the processor configured to execute one or more program modules comprising;
a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data;
a range-based processing module configured to receive data from a single range scan, and output range-based classification data;
an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and
a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.
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Abstract
A system and method for providing information for autonomous vehicle navigation are disclosed. The system comprises at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle, and a geo-location unit comprising one or more global positioning system sensors and inertial navigation system sensors. The system also includes at least one processor in operative communication with the laser scanner and the geo-location unit. The processor is configured to execute one or more program modules comprising a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.
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Citations
20 Claims
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1. A system for providing information for autonomous vehicle navigation, the system comprising:
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at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle; a geo-location unit for the autonomous vehicle, the geo-location unit comprising one or more global positioning system sensors, and one or more inertial navigation system sensors; and at least one processor in operative communication with the laser scanner and the geo-location unit, the processor configured to execute one or more program modules comprising; a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for providing information for navigating an autonomous vehicle, the method comprising:
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scanning a distance around the autonomous vehicle to obtain a current range scan; obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the scanning of the distance; processing the current range scan and the navigation data using one or more program modules comprising; a ground plane-based processing module configured to receive range scan data transformed into world coordinates and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan and output range-based classification data; and an intensity-based processing module configured to receive intensity scan data and output intensity-based classification data. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification