Building elevation maps from laser data
First Claim
1. A method comprising:
- receiving, using one or more computing devices, a plurality of data points via one or more sensors, each data point representing a position and elevation of a surface;
determining, using the one or more computing devices, a first set of data points based on one or more positions of the plurality of data points;
determining, using the one or more computing devices, a plurality of portions of the surface wherein the positions of a plurality of the data points of the first set are located in each portion;
identifying, for each portion of the surface and using the one or more computing devices, a data point associated with a lowest relative elevation of the set of first data points located in the portion; and
generating, using the one or more computing devices, an elevation map wherein the elevation of each portion is based on at least the identified data point associated with the lowest relative elevation of the portion.
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Accused Products
Abstract
Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.
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Citations
20 Claims
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1. A method comprising:
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receiving, using one or more computing devices, a plurality of data points via one or more sensors, each data point representing a position and elevation of a surface; determining, using the one or more computing devices, a first set of data points based on one or more positions of the plurality of data points; determining, using the one or more computing devices, a plurality of portions of the surface wherein the positions of a plurality of the data points of the first set are located in each portion; identifying, for each portion of the surface and using the one or more computing devices, a data point associated with a lowest relative elevation of the set of first data points located in the portion; and generating, using the one or more computing devices, an elevation map wherein the elevation of each portion is based on at least the identified data point associated with the lowest relative elevation of the portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for generating an elevation map of a roadway, the system comprising:
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memory storing sensor data, the sensor data including a plurality of data points, each data point representing a position and elevation of a surface; and one or more computing devices, each computing device having one or more processors, the one or more processors of each computing device coupled to the memory, and the one or more computing devices configured to; access the stored sensor data; determine a set of first data points based on one or more positions of the plurality of data points; filter the set of first data points in order to generate a set of second data points; determine a plurality of portions of the surface wherein the positions of a plurality of the second data points are located in each portion; identify, for each portion of the surface, the second data point having the lowest relative elevation of the second data points in the portion; and generate an elevation map of the surface wherein the elevation of each portion of the surface is based on at least the relative elevation of the portion'"'"'s identified second data point. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory, 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 generating an elevation map of a roadway, the method comprising:
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receiving a plurality of data points via one or more sensors, each data point representing a position and elevation of a surface; determining a set of first data points based on one or more positions of the plurality of data points; filtering the set of first data points in order to generate a set of second data points; determining a plurality of portions of the surface wherein the positions of a plurality of the second data points are located in each portion; identifying, for each portion of the surface, a data point of the set of second data points associated with a lowest relative elevation of the set of second data points located in the portion; and generating an elevation map of the roadway wherein the elevation of each portion is based on at least the identified data point of the set of second data points associated with the lowest relative elevation. - View Dependent Claims (20)
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Specification