Laser ranging process for road and obstacle detection in navigating an autonomous vehicle
First Claim
1. A method for road and obstacle detection in navigating an autonomous vehicle, the method comprising:
- scanning a distance ahead of the autonomous vehicle along only one axis to obtain a current range scan, wherein the one axis is substantially perpendicular to a direction of travel of the autonomous vehicle;
obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the scanning of the distance ahead;
transforming the current range scan to world coordinates with respect to a reference location based on the navigation data;
inputting the transformed current range scan into a distance-based accumulator;
adding the transformed current range scan to a variable size buffer when the autonomous vehicle is deemed to be non-stationary;
estimating a ground plane from the transformed current range scan and prior range scans stored in the variable size buffer;
representing the estimated ground plane as a constrained quadratic surface; and
classifying the constrained quadratic surface into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.
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Abstract
A method and system provide road and obstacle detection in navigating an autonomous vehicle. The method comprises scanning a distance ahead of the autonomous vehicle to obtain a current range scan, and obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle. The current range scan is transformed to world coordinates with respect to a reference location based on the navigation data, and the transformed current range scan is input into a distance-based accumulator. The transformed current range scan is added to a variable size buffer when the autonomous vehicle is deemed to be non-stationary. A ground plane is estimated from the transformed current range scan and prior range scans stored in the variable size buffer. The estimated ground plane is represented as a constrained quadratic surface, which is classified into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.
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Citations
20 Claims
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1. A method for road and obstacle detection in navigating an autonomous vehicle, the method comprising:
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scanning a distance ahead of the autonomous vehicle along only one axis to obtain a current range scan, wherein the one axis is substantially perpendicular to a direction of travel of the autonomous vehicle; obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the scanning of the distance ahead; transforming the current range scan to world coordinates with respect to a reference location based on the navigation data; inputting the transformed current range scan into a distance-based accumulator; adding the transformed current range scan to a variable size buffer when the autonomous vehicle is deemed to be non-stationary; estimating a ground plane from the transformed current range scan and prior range scans stored in the variable size buffer; representing the estimated ground plane as a constrained quadratic surface; and classifying the constrained quadratic surface into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer program product, comprising:
a computer readable medium having instructions stored thereon for a method for road and obstacle detection in navigating an autonomous vehicle, the method comprising; scanning a distance ahead of the autonomous vehicle along only one axis to obtain a current range scan, wherein the one axis is substantially perpendicular to a direction of travel of the autonomous vehicle; obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the scanning of the distance ahead; transforming the current range scan to world coordinates with respect to a reference location based on the navigation data; inputting the transformed current range scan into a distance-based accumulator; adding the transformed current range scan to a variable size buffer when the autonomous vehicle is deemed to be non-stationary; estimating a ground plane from the transformed current range scan and prior range scans stored in the variable size buffer; representing the estimated ground plane as a constrained quadratic surface; and classifying the constrained quadratic surface into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.
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13. A system for road and obstacle detection in navigating an autonomous vehicle, the system comprising:
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at least one laser scanner mounted on an autonomous vehicle, the laser scanner configured to perform mulitple range scans of a fixed size area ahead of the autonomous vehicle, each of the range scans occurring along only one axis, wherein the one axis is substantially perpendicular to a direction of travel of the autonomous vehicle; a navigation unit in the autonomous vehicle, the navigation unit configured to obtain navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the range scans of the fixed size area; and at least one processing unit in the autonomous vehicle and in operative communication with the laser scanner and the navigation unit, the processing unit including a variable size buffer and configured to execute instructions to; synchronize a current range scan from the laser scanner with navigation data obtained during the current range scan; transform the current range scan to world coordinates with respect to a reference location based on the navigation data; input the transformed current range scan into a distance-based accumulator; add the transformed current range scan to the variable size buffer when the autonomous vehicle is deemed to be non-stationary; estimate a ground plane from the transformed current range scan and prior range scans stored in the variable size buffer; represent the estimated ground plane as a constrained quadratic surface; and classify the constrained quadratic surface into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification