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公开(公告)号：US11782129B2
公开(公告)日：2023-10-10
申请号：US17409380
申请日：2021-08-23
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen
IPC: G01S7/48 , G01S17/931 , G01S17/89
CPC classification number: G01S7/4808 , G01S17/89 , G01S17/931
Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.
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公开(公告)号：US11010621B2
公开(公告)日：2021-05-18
申请号：US16210181
申请日：2018-12-05
Applicant: HERE Global B.V.
Inventor： David Doria , Engin Anil
Abstract: An apparatus and method automatically detects and positions structure faces. After receiving data points describing a geographical area, neighborhoods are defined based on the data points and classified as linear, planar, or volumetric. Neighborhoods are merged into at least one cluster based on local surface normals. At least one bounding frame is fit to the at least one cluster and modified based on a field of interest.
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公开(公告)号：US20200182626A1
公开(公告)日：2020-06-11
申请号：US16210553
申请日：2018-12-05
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen , Charles Morcom
Abstract: Embodiments include apparatus and methods for automatic generation of local window-based 2D occupancy grids that represent roadside objects at a region of a roadway and automatic localization based on the 2D occupancy grids. 2D occupancy grids are generated based on an altitude threshold for point cloud data and grid cell occupancy for grid cells of local windows associated with the region of the roadway. The 2D occupancy grids are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed 2D occupancy grids and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.
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公开(公告)号：US20190279049A1
公开(公告)日：2019-09-12
申请号：US15913432
申请日：2018-03-06
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen , Peter Forbes , David Vandebunte
Abstract: Embodiments include apparatus and methods for automatic generation of object polylines that represent roadside objects at a region of a roadway and automatic localization based on the object polylines. Object polylines are generated based on occupied voxels closest to the roadway of one or more voxel occupancy grids associated with the region of the roadway. The object polylines are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed object polylines and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.
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公开(公告)号：US20210241007A1
公开(公告)日：2021-08-05
申请号：US17234411
申请日：2021-04-19
Applicant: HERE Global B.V.
Inventor： David Doria , Engin Anil
IPC: G06K9/00 , G06T7/73 , G01S17/931 , G01S17/89 , G05D1/02
Abstract: An apparatus and method automatically detects and positions structure faces. After receiving data points describing a geographical area, neighborhoods are defined based on the data points and classified as linear, planar, or volumetric. Neighborhoods are merged into at least one cluster based on local surface normals. At least one bounding frame is fit to the at least one cluster and modified based on a field of interest.
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Patent Agency Ranking
公开(公告)号：US20200184234A1
公开(公告)日：2020-06-11
申请号：US16210181
申请日：2018-12-05
Applicant: HERE Global B.V.
Inventor： David Doria , Engin Anil
Abstract: An apparatus and method automatically detects and positions structure faces. After receiving data points describing a geographical area, neighborhoods are defined based on the data points and classified as linear, planar, or volumetric. Neighborhoods are merged into at least one cluster based on local surface normals. At least one bounding frame is fit to the at least one cluster and modified based on a field of interest.
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公开(公告)号：US20190138823A1
公开(公告)日：2019-05-09
申请号：US15808277
申请日：2017-11-09
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen , Coby Spolin Parker , Zichen Li
Abstract: The present embodiments provide for automatically detecting the location and severity of occluded regions within input data. A grid representation of a scene is generated from a data set, characterizing spaces of the grid representation as free, occupied, and hidden/occluded. The grid is bounded, and a connected component analysis is performed on the hidden space to identify the occluded regions.
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公开(公告)号：US20180058861A1
公开(公告)日：2018-03-01
申请号：US15248714
申请日：2016-08-26
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen
CPC classification number: G01C21/32 , G01S7/4808 , G01S17/89 , G06T7/00 , G06T17/05 , G06T2215/16
Abstract: Embodiments include apparatus and methods for generating a localization geometry or occupancy grid for a geographic location. Point cloud that describes a vicinity of a pathway is collected by a distance sensor and describing a vicinity of the pathway. The point cloud data is reduced or filtered to a predetermined volume with respect to the roadway. The remaining point cloud data is projected onto a two-dimensional plane including at least one pixel formation. A volumetric grid is defined according to the at least one pixel formation, and a voxel occupancy for each of a voxels forming the volumetric grid is determined. The arrangement of the voxel occupancies or a sequence of data describing the voxel occupancies is a localization geometry that describes the geographic location of the pathway.
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公开(公告)号：US11867819B2
公开(公告)日：2024-01-09
申请号：US17344297
申请日：2021-06-10
Applicant: HERE Global B.V.
Inventor： David Doria , Charles Morcom , Engin Burak Anil , Fangning He , Matthew Emery Goss
CPC classification number: G01S17/931 , G06T7/11 , G06V10/803 , G06V20/582 , G06V20/588 , G01S7/4802 , G01S17/89 , G06F18/251 , G06T2207/10028 , G06T2207/20112 , G06T2207/30252 , G06V2201/12
Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.
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公开(公告)号：US11423677B2
公开(公告)日：2022-08-23
申请号：US17079107
申请日：2020-10-23
Applicant: HERE Global B.V.
Inventor： Nezih Ergin Ozkucur , Fangning He , David Doria , Engin Burak Anil
Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.
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