公开(公告)号：US10649089B2

公开(公告)日：2020-05-12

申请号：US15411795

申请日：2017-01-20

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Yibing Liang ,  Bocong Liu ,  Zhuo Chen ,  Wei He ,  Chengliang Deng ,  Kaiwen Feng

IPC: G01S17/88 ,  G06F13/362 ,  G01S17/87 ,  G01S7/00 ,  G01S17/931 ,  G05D1/02

Abstract: The present application discloses a data acquisition method and apparatus for a driverless vehicle. The driverless vehicle is provided with a LIDAR sensor and a camera sensor, and the method of an embodiment comprises: acquiring a collection period of the LIDAR sensor as a first period; acquiring a start time of a current time window; executing following data processing steps: executing real-time acquiring and storing operations on data packets collected by the LIDAR sensor and the camera sensor after the start time of the current time window; and determining whether a following condition is met: the first period has elapsed from the start time of the current time window to a current time; setting the start time of the current time window to the current time in response to determining that the condition is met, and continuing executing the data processing steps. This embodiment realizes synchronized storage of data packets collected by the LIDAR sensor and data packets collected by the camera sensor in the driverless vehicle.

公开(公告)号：US10345433B2

公开(公告)日：2019-07-09

申请号：US15410906

申请日：2017-01-20

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Wei He ,  Kaiwen Feng ,  Chengliang Deng ,  Yibing Liang ,  Bocong Liu ,  Zhuo Chen ,  Yu Ma

IPC: G01C3/08 ,  G01S7/486 ,  G01S17/93 ,  G01S17/87 ,  G01S7/48

Abstract: The present application discloses a data acquiring method and apparatus applied to a driverless vehicle. A specific implementation of the method includes: selecting, from at least one laser radar of the driverless vehicle, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps: executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied; and setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. This implementation implements the alignment and storage of point cloud data packets collected by at least one laser radar of the driverless vehicle.

公开(公告)号：US10268926B2

公开(公告)日：2019-04-23

申请号：US15410713

申请日：2017-01-19

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Kaiwen Feng ,  Zhuo Chen ,  Bocong Liu ,  Yibing Liang ,  Yu Ma ,  Haifeng Wang

IPC: G06K9/62 ,  G01S17/02 ,  G06K9/20 ,  G06K9/00 ,  G01S17/89 ,  G01S7/48

Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method in an embodiment comprises: presenting a to-be-labeled point cloud frame and a camera image formed by photographing an identical scene at an identical moment as the point cloud frame; determining, in response to an operation of selecting an object in the point cloud frame by a user, an area encompassing the selected object in the point cloud frame; projecting the area from the point cloud frame to the camera image, to obtain a projected area in the camera image; and adding a mark in the projected area, for labeling, by the user, the selected object in the point cloud frame according to the mark indicating an object in the camera image. This implementation can assist labeling personnel in rapidly and correctly labeling an object in a point cloud frame.

公开(公告)号：US20180075666A1

公开(公告)日：2018-03-15

申请号：US15409667

申请日：2017-01-19

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Kaiwen Feng ,  Zhuo Chen ,  Bocong Liu ,  Chengliang Deng ,  Yibing Liang ,  Yu Ma

IPC: G06T19/20 ,  G06T7/70 ,  G06K9/66

CPC classification number: G06K9/00671 ,  G06K9/00711 ,  G06K9/00805 ,  G06K2209/40 ,  G06T19/00 ,  G06T2207/10028 ,  G06T2219/004

Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method of an embodiment comprises: recognizing an object in a to-be-labeled point cloud frame by using an obstacle recognition algorithm, to obtain a recognition result; presenting the recognition result as an initial labeling result of the point cloud frame; and updating the labeling result in response to a correction operation by a user on the labeling result. According to the embodiment, the speed and accuracy of point cloud data labeling are improved.

公开(公告)号：US20180074756A1

公开(公告)日：2018-03-15

申请号：US15411604

申请日：2017-01-20

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Yibing Liang ,  Kaiwen Feng ,  Bocong Liu ,  Zhuo Chen ,  Yu Ma ,  Wei He

IPC: G06F3/06

CPC classification number: G06F3/0659 ,  B60W30/00 ,  G01S7/003 ,  G01S13/931 ,  G05B19/408 ,  G06F3/0604 ,  G06F3/0653 ,  G06F3/0656 ,  G06F3/067

Abstract: This disclosures discloses a method and apparatus for acquiring data in a robot operating system. A specific implementation of the method includes: monitoring in real time a data storage area of an information acquirer, the information acquirer configured to acquire location state data of a driverless vehicle; obtaining updated data if the updated data are present in the data storage area; and storing the updated data into a data buffer corresponding to the information acquirer. The implementation improves the robustness of the data.