Object bounding box estimation
First Claim
1. A method for maneuvering a vehicle, the method comprising:
- selecting, by one or more processors, a set of points from a plurality of data points generated by a sensor, each data point of the plurality of data points representing a three-dimensional location of a point corresponding to a surface of an object located on a section of roadway, the set of points being indicative of an object in the section of roadway;
estimating, by the one or more processors, a bounding box for the set of points based on a detailed map of the section of roadway;
projecting, by the one or more processors, the set of data points onto a two-dimensional intensity map within the estimated bounding box;
identifying, by the one or more processors, an edge of the bounding box visible to the sensor;
adjusting, by the one or more processors, a parameter of the estimated bounding box in order to increase a number of data points of the set of data points projected along the identified edge; and
using, by the one or more processors, the estimated bounding box including the adjusted parameter 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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selecting, by one or more processors, a set of points from a plurality of data points generated by a sensor, each data point of the plurality of data points representing a three-dimensional location of a point corresponding to a surface of an object located on a section of roadway, the set of points being indicative of an object in the section of roadway; estimating, by the one or more processors, a bounding box for the set of points based on a detailed map of the section of roadway; projecting, by the one or more processors, the set of data points onto a two-dimensional intensity map within the estimated bounding box; identifying, by the one or more processors, an edge of the bounding box visible to the sensor; adjusting, by the one or more processors, a parameter of the estimated bounding box in order to increase a number of data points of the set of data points projected along the identified edge; and using, by the one or more processors, the estimated bounding box including the adjusted parameter to maneuver the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for maneuvering a vehicle, the system comprising:
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one or more processors configured to; select a set of points from a plurality of data points generated by a sensor, each data point of the plurality of data points representing a three-dimensional location of a point corresponding to a surface of an object located on a section of roadway, the set of points being indicative of an object in the section of roadway; estimate a bounding box for the set of points based on a detailed map of the section of roadway; project the set of data points onto a two-dimensional intensity map within the estimated bounding box; identify an edge of the bounding box visible to the sensor; adjust a parameter of the estimated bounding box in order to increase a number of data points of the set of data points projected along the identified edge; and use the estimated bounding box including the adjusted parameter to maneuver the vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. 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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selecting a set of points from a plurality of data points generated by a sensor, each data point of the plurality of data points representing a three-dimensional location of a point corresponding to a surface of an object located on a section of roadway, the set of points being indicative of an object in the section of roadway; estimating a bounding box for the set of points based on a detailed map of the section of roadway; projecting the set of data points onto a two-dimensional intensity map within the estimated bounding box; identifying, by the one or more processors, an edge of the bounding box visible to the sensor; adjusting a parameter of the estimated bounding box in order to increase a number of data points of the set of data points projected along the identified edge; and using the estimated bounding box including the adjusted parameter to maneuver the vehicle. - View Dependent Claims (19, 20)
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Specification