Method for detecting objects with a pivotable sensor device
First Claim
1. A method for detecting objects with a pivotable sensor device having a scan sensor, comprising:
- emitting detection beams from the scan sensor to detect objects in a scanning range within a scanning plane, while changing a position of the scanning plane by pivoting the sensor device in a swivel range, as a result of which a plurality of detection planes are produced;
detecting detection points of objects in surroundings of the sensor device using the detection beams in the detection planes;
extracting first lines from the detection points of a respective detection plane;
determining measuring points as intersection points of the lines with at least one predetermined measuring plane;
classifying the measuring points in the respective measuring plane into blocks byfor a measuring point to be classified, selecting another measuring point, from among those measuring points in already existing blocks that meet a predefined distance criterion, as having a shortest distance from the measuring point to be classified, where the predetermined distance criterion for a respective measuring point in a respective block is met if a first distance between the measuring point to be classified and the respective measuring point is shorter than a distance measure which depends on a second distance of the respective measuring point from an adjacent measuring point of the respective block, andplacing the measuring point to be classified, adjacent to the selected measuring point, in a block containing the selected measuring point; and
extracting second lines on a block basis from the measuring points in the blocks generated to determine structures of objects in the measuring planes.
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Abstract
A scan sensor emits detection beams for detecting objects in a scanning area within a scanning plane. The position of the scanning plane is changed by pivoting the sensor device in a scanning area, to produce multiple detection planes. Detection points of objects in the surroundings of the sensor device are detected by the detection beams in the detection planes. Lines are extracted from the detection points of a respective detection plan. Measuring points are determined at the intersection points of the lines with one or more predetermined measuring planes. The measuring points in a respective measuring plane are classified into blocks and lines are extracted on a block basis from the measuring points of the blocks generated, as a result of which structures of objects in the measuring planes are determined.
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Citations
25 Claims
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1. A method for detecting objects with a pivotable sensor device having a scan sensor, comprising:
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emitting detection beams from the scan sensor to detect objects in a scanning range within a scanning plane, while changing a position of the scanning plane by pivoting the sensor device in a swivel range, as a result of which a plurality of detection planes are produced; detecting detection points of objects in surroundings of the sensor device using the detection beams in the detection planes; extracting first lines from the detection points of a respective detection plane; determining measuring points as intersection points of the lines with at least one predetermined measuring plane; classifying the measuring points in the respective measuring plane into blocks by for a measuring point to be classified, selecting another measuring point, from among those measuring points in already existing blocks that meet a predefined distance criterion, as having a shortest distance from the measuring point to be classified, where the predetermined distance criterion for a respective measuring point in a respective block is met if a first distance between the measuring point to be classified and the respective measuring point is shorter than a distance measure which depends on a second distance of the respective measuring point from an adjacent measuring point of the respective block, and placing the measuring point to be classified, adjacent to the selected measuring point, in a block containing the selected measuring point; and extracting second lines on a block basis from the measuring points in the blocks generated to determine structures of objects in the measuring planes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A device for detecting objects, comprising:
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a sensor device with a scan sensor that, when in operation, emits detection beams to detect objects in a scanning range within a scanning plane while changing a position of the scanning plane by pivoting the sensor device in a swivel range, as a result of which a plurality of detection planes are produced, and detection points of objects in surroundings of the sensor device are detected by the detection beams in the detection planes; and a computer unit coupled to said sensor device and programmed to extract first lines from the detection points of a respective detection plane, determine measuring points as intersection points of the lines with at least one predetermined measuring plane and classify the measuring points in the respective measuring plane are classified into blocks by for a measuring point to be classified, selecting another measuring point, from among those measuring points in already existing blocks that meet a predefined distance criterion, as having a shortest distance from the measuring point to be classified, where the predetermined distance criterion for a respective measuring point in a respective block is met if a first distance between the measuring point to be classified and the respective measuring point is shorter than a distance measure which depends on a second distance of the respective measuring point from an adjacent measuring point of the respective block, and placing the measuring point to be classified, adjacent to the selected measuring point, in a block containing the selected measuring point, and extracting second lines on a block basis from the measuring points in the blocks generated to determine structures of objects in the measuring planes.
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24. A vehicle operating without a driver, comprising:
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a chassis supported by at least one transport mechanism; a memory, mounted on the chassis, storing representational lines of registered objects; a sensor device, mounted on the chassis, with a scan sensor that, when in operation, emits detection beams to detect objects in a scanning range within a scanning plane while changing a position of the scanning plane by pivoting the sensor device in a swivel range, as a result of which a plurality of detection planes are produced, and detection points of objects in surroundings of the sensor device are detected by the detection beams in the detection planes; at least one computer unit, mounted on the chassis and coupled to said sensor device, programmed to extract first lines from the detection points of a respective detection plane, determine measuring points as intersection points of the lines with at least one predetermined measuring plane and classify the measuring points in the respective measuring plane are classified into blocks by for a measuring point to be classified, selecting another measuring point, from among those measuring points in already existing blocks that meet a predefined distance criterion, as having a shortest distance from the measuring point to be classified, where the predetermined distance criterion for a respective measuring point in a respective block is met if a first distance between the measuring point to be classified and the respective measuring point is shorter than a distance measure which depends on a second distance of the respective measuring point from an adjacent measuring point of the respective block, and placing the measuring point to be classified, adjacent to the selected measuring point, in a block containing the selected measuring point, extracting second lines on a block basis from the measuring points in the blocks generated to determine structures of objects in the measuring planes, and navigating the vehicle without a driver by comparing the second lines extracted from the respective measuring plane with the representational lines of the registered objects in said memory. - View Dependent Claims (25)
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Specification