Object bounding box estimation
First Claim
1. A method for maneuvering a vehicle, the method comprising:
- maneuvering, by one or more processors, the vehicle according to a control strategy;
selecting, by the 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;
adjusting, by the one or more processors, a parameter of the estimated bounding box based on the three-dimensional locations of at least some of the set of points;
adjusting, by the one or more processors, the control strategy based on the adjusted parameter; and
maneuvering, by the one or more processors, the vehicle according to the adjusted control strategy.
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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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maneuvering, by one or more processors, the vehicle according to a control strategy; selecting, by the 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; adjusting, by the one or more processors, a parameter of the estimated bounding box based on the three-dimensional locations of at least some of the set of points; adjusting, by the one or more processors, the control strategy based on the adjusted parameter; and maneuvering, by the one or more processors, the vehicle according to the adjusted control strategy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for maneuvering a vehicle, the system comprising one or more computing devices having one or more processors, the one or more computing devices being configured to:
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maneuver the vehicle according to a control strategy; 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; adjust a parameter of the estimated bounding box based on the three-dimensional locations of at least some of the set of points; adjust the control strategy based on the adjusted parameter; and maneuver the vehicle according to the adjusted control strategy. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method of maneuvering a vehicle, the method comprising:
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maneuvering the vehicle according to a control strategy; 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; adjusting a parameter of the estimated bounding box based on the three-dimensional locations of at least some of the set of points; adjusting the control strategy based on the adjusted parameter; and maneuvering the vehicle according to the adjusted control strategy.
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Specification