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Point clouds ghosting effects detection system for autonomous driving vehicles

An automatic driving, point cloud technology, applied in radio wave measurement systems, measurement devices, and re-radiation, etc., can solve the problem of HD3D point cloud map accuracy loss and other problems

Pending Publication Date: 2020-10-13
BAIDU COM TIMES TECH (BEIJING) CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The accuracy of HD 3D point cloud maps may be compromised if the point cloud map has ghost images caused by, for example, stitching of point clouds

Method used

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  • Point clouds ghosting effects detection system for autonomous driving vehicles
  • Point clouds ghosting effects detection system for autonomous driving vehicles
  • Point clouds ghosting effects detection system for autonomous driving vehicles

Examples

Experimental program
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Embodiment Construction

[0044] Various embodiments and aspects of the disclosure will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.

[0045] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. Recitations of the phrase "in one embodiment" in various places in this specification do not necessarily all refer to the same embod...

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Abstract

In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequentframes, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematicvoxels belong to a wall object, and in response to determining that the problematic voxel s belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequentframe.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to point cloud ghosting effect detection systems for autonomous vehicles (ADVs). Background technique [0002] Vehicles operating in an autonomous mode (e.g., driverless) can free passengers (especially the driver) from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to operate with minimal human interaction or in some situations without any passengers. [0003] Motion planning and control are key operations in autonomous driving. However, traditional motion planning operations mainly estimate the difficulty of completing a given path based on its curvature and velocity, without considering the characteristic differences of different types of vehicles. The same motion planning and control is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T15/00
CPCG06T17/05G06T19/00G06T19/20G06T2207/10028G06T2210/56G06T2207/10016G06T2207/30168G06T7/0002G01S17/89G01S7/4808G01S7/4802G01S17/931G06T15/08G06T15/04G06T7/11G06T2200/04G06T2207/30252G06T2219/2004
Inventor 余丽袁鹏飞肖勇何润欣宋适宇
Owner BAIDU COM TIMES TECH (BEIJING) CO LTD