Cylindrical Representation for 3D Perception Data Distribution
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Solution Overview
Problem
Existing 3D perception systems face inefficiencies due to uneven data point distribution in cartesian coordinate systems and inaccuracies in non-cartesian coordinate systems, particularly for elongated objects like guard rails or trailers.
Innovation Solution
A processing system that generates a cylindrical representation of a scene and modifies it by relocating data points from one region to another based on detected features, ensuring continuous representation of elongated objects across different sensor fields of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a cartesian coordinate system is used to map data points into a grid of cells, then the representation is simple and regular, but data points become unevenly distributed resulting in inefficient performance
Solution Approach 1:
The patent changes the coordinate system parameters from cartesian to cylindrical coordinates, transforming the spatial representation framework. This parameter change allows data points to be distributed more uniformly across the representation space, improving processing efficiency while maintaining systematic organization.
Solution Approach 2:
The patent introduces a new dimensional organization by using cylindrical coordinates (radial distance, azimuthal angle, height) instead of traditional cartesian coordinates. This dimensional reorganization creates a more efficient spatial distribution of data points, reducing the long-tailed density distribution problem.
2Productivity
If a polar or cylindrical coordinate system is used for data representation, then data points are more evenly distributed, but elongated objects appear curved or distorted reducing accuracy
Solution Approach 1:
The patent applies local quality adjustment by detecting features in the cylindrical representation and selectively relocating them to correct regions. This localized correction approach preserves the overall benefits of cylindrical coordinates while fixing specific distortion issues in particular areas, maintaining both efficiency and accuracy.
Solution Approach 2:
The patent implements a feedback mechanism where the system detects features in the cylindrical representation, identifies distortions, and relocates them to appropriate regions. This closed-loop process continuously refines the representation accuracy while maintaining the efficient data distribution provided by cylindrical coordinates.
3Reliability
If features are relocated in the cylindrical representation, then continuity of elongated objects is improved, but the processing complexity increases
Solution Approach 1:
The patent performs preliminary action by detecting features and planning their relocation before finalizing the representation. This advance preparation ensures that elongated objects will be continuous in the final output, while the relocation operations are executed in an organized manner to minimize processing overhead.
Data Source
AI summary
In some aspects of the disclosure, an apparatus includes a processing system that includes one or more processors and one or more memories coupled to the one or more processors. The processing system is configured to receive sensor data associated with a scene and to generate a cylindrical representation associated with the scene. The processing system is further configured to modify the cylindrical representation based on detecting a feature of the cylindrical representation being included in a first region of the cylindrical representation. Modifying the cylindrical representation includes relocating the feature from the first region to a second region that is different than the first region. The processing system is further configured to perform, based on the modified cylindrical representation, one or more three-dimensional (3D) perception operations associated with the scene.