×

System and method for drivable road surface representation generation using multimodal sensor data

  • US 10,528,851 B2
  • Filed: 11/27/2017
  • Issued: 01/07/2020
  • Est. Priority Date: 11/27/2017
  • Status: Active Grant
First Claim
Patent Images

1. A system comprising:

  • a data processor; and

    a multimodal drivable road surface detection module, executable by the data processor, the multimodal drivable road surface detection module being configured to perform a multimodal drivable road surface detection operation configured to;

    receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle;

    project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data;

    perform post-processing operations on the mapped image and point cloud data, the post-processing operations being configured to perform an outlier detection process to remove outlier points of the point cloud data that do not correspond to a flat road surface captured in the image data, the post-processing operations being further configured to perform a density-based spatial clustering process to remove outlier points of the point cloud data that do not correspond to a point cluster; and

    perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×