公开(公告)号：US09870437B2

公开(公告)日：2018-01-16

申请号：US14551502

申请日：2014-11-24

Applicant: Google Inc.

Inventor： Arthur Robert Pope ,  Ioannis Stamos

IPC: G06F17/50 ,  G06T17/05

CPC classification number: G06F17/5004 ,  G06T17/05 ,  G06T2210/56

Abstract: Computer-implemented methods and systems of detecting and modeling curbs include receiving a cloud of three-dimensional (3D) data points acquired along street locations. A plurality of vertical scanlines (e.g., arrays of 3D data points obtained at given horizontal locations) are identified within the cloud of 3D data points. One or more curb points indicating the potential presence of a curb in the plurality of vertical scanlines are identified. A synthesized set of non-overlapping curb curves are generated in order to close gaps between certain curb points while removing certain other outlier curb points. Successive curb curves in the synthesized set of non-overlapping curb curves are then identified as belonging to one or more curb segments. A curb model that fits each of the one or more curb segments to one or more curb model shape representations can then be generated.

公开(公告)号：US20160147915A1

公开(公告)日：2016-05-26

申请号：US14551502

申请日：2014-11-24

Applicant: Google Inc.

Inventor： Arthur Robert Pope ,  Ioannis Stamos

IPC: G06F17/50 ,  G06T17/05

CPC classification number: G06F17/5004 ,  G06T17/05 ,  G06T2210/56

Abstract: Computer-implemented methods and systems of detecting and modeling curbs include receiving a cloud of three-dimensional (3D) data points acquired along street locations. A plurality of vertical scanlines (e.g., arrays of 3D data points obtained at given horizontal locations) are identified within the cloud of 3D data points. One or more curb points indicating the potential presence of a curb in the plurality of vertical scanlines are identified. A synthesized set of non-overlapping curb curves are generated in order to close gaps between certain curb points while removing certain other outlier curb points. Successive curb curves in the synthesized set of non-overlapping curb curves are then identified as belonging to one or more curb segments. A curb model that fits each of the one or more curb segments to one or more curb model shape representations can then be generated.

Abstract translation: 计算机实现的检测和建模路缘的方法和系统包括接收沿街道位置采集的三维（3D）数据点云。 多个垂直扫描线（例如，在给定水平位置处获得的3D数据点的阵列）在3D数据点的云内被识别。 识别指示在多个垂直扫描线中可能存在路缘石的一个或多个路缘点。 生成一组不重叠的路缘曲线，以便在消除某些其他异常值路边点之间，缩小某些路缘点之间的间隙。 然后将合成的非重叠路缘曲线组中的连续路缘曲线识别为属于一个或多个路缘段。 然后可以生成将一个或多个路缘段中的每一个适合于一个或多个路缘石模型形状表示的路缘模型。