Object bounding box estimation
First Claim
1. A method for maneuvering a vehicle, the method comprising:
- receiving sensor data from at least one sensor, the sensor data including a plurality of data points, each data point representing a location and elevation of a particular surface associated a section of roadway;
accessing a detailed map of the section of roadway;
identifying a disturbance in the sensor data indicative of an object in the section of roadway based on the detailed map, the disturbance being associated with a set of data points;
estimating, by a processor, a bounding box for the disturbance based on the detailed map;
projecting the set of data points of the disturbance onto a 2-dimensional intensity map within the estimated bounding box;
identifying edges of the bounding box visible to the at least one sensor;
adjusting a parameter of the estimated bounding box in order to increase a number of data points of the set of data points along the identified edges; and
using the adjusted bounding box to maneuver the vehicle.
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Accused Products
Abstract
Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.
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Citations
20 Claims
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1. A method for maneuvering a vehicle, the method comprising:
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receiving sensor data from at least one sensor, the sensor data including a plurality of data points, each data point representing a location and elevation of a particular surface associated a section of roadway; accessing a detailed map of the section of roadway; identifying a disturbance in the sensor data indicative of an object in the section of roadway based on the detailed map, the disturbance being associated with a set of data points; estimating, by a processor, a bounding box for the disturbance based on the detailed map; projecting the set of data points of the disturbance onto a 2-dimensional intensity map within the estimated bounding box; identifying edges of the bounding box visible to the at least one sensor; adjusting a parameter of the estimated bounding box in order to increase a number of data points of the set of data points along the identified edges; and using the adjusted bounding box to maneuver the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A device for maneuvering a vehicle, the device comprising:
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memory storing a detailed map of the section of roadway; a processor coupled to the memory, the processor being operable to; receive sensor data from at least one sensor, the sensor data including a plurality of data points, each data point representing a location and elevation of a particular surface associated a section of roadway; identify a disturbance in the sensor data indicative of an object in the section of roadway based on the detailed map, the disturbance being associated with a set of data points; estimate a bounding box for the disturbance based on the detailed map; project the set of data points of the disturbance onto a 2-dimensional intensity map within the estimated bounding box; identify edges of the bounding box visible to the at least one sensor; adjust a parameter of the estimated bounding box in order to increase a number of data points of the set of data points along the identified edges; and use the adjusted bounding box to maneuver the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of maneuvering a vehicle, the method comprising:
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receiving sensor data from at least one sensor, the sensor data including a plurality of data points, each data point representing a location and elevation of a particular surface associated a section of roadway; accessing a detailed map of the section of roadway; identifying a disturbance in the sensor data indicative of an object in the section of roadway based on the detailed map, the disturbance being associated with a set of data points; estimating a bounding box for the disturbance based on the detailed map; projecting the set of data points of the disturbance onto a 2-dimensional intensity map within the estimated bounding box; identifying edges of the bounding box visible to the at least one sensor; adjusting a parameter of the estimated bounding box in order to increase a number of data points of the set of data points along the identified edges; and using the adjusted bounding box to maneuver the vehicle. - View Dependent Claims (17, 18, 19, 20)
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Specification