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公开(公告)号：US11119192B2
公开(公告)日：2021-09-14
申请号：US16213261
申请日：2018-12-07
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen
IPC: G01S7/48 , G01S17/931 , G01S17/89
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：US11022445B2
公开(公告)日：2021-06-01
申请号：US16216491
申请日：2018-12-11
Applicant: HERE Global B.V.
Inventor： Charles Morcom , David Doria
Abstract: A method for constructing a coordinate system relative to a vehicle traveling along a path includes receiving location data, dividing the path into path segments, matching a portion of the location data to a path segment, and determining a registration of the portion of the location data relative to the path segment. The registration may be organized by non-cartesian coordinates relative to a path point lying on the path segment.
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公开(公告)号：US10809073B2
公开(公告)日：2020-10-20
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：US10552689B2
公开(公告)日：2020-02-04
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：US20180340781A1
公开(公告)日：2018-11-29
申请号：US16036091
申请日：2018-07-16
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen
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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Patent Agency Ranking
公开(公告)号：US11670090B2
公开(公告)日：2023-06-06
申请号：US17234411
申请日：2021-04-19
Applicant: HERE Global B.V.
Inventor： David Doria , Engin Anil
CPC classification number: G06V20/58 , G01S17/89 , G01S17/931 , G05D1/024 , G05D1/0248 , G06T7/75 , G06V20/588 , G06T2207/10028 , G06T2207/30256 , G06T2207/30261
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：US20210303884A1
公开(公告)日：2021-09-30
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
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：US11093759B2
公开(公告)日：2021-08-17
申请号：US15913432
申请日：2018-03-06
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen , Peter Forbes , David Vandebunte
IPC: G06K9/00 , G06K9/62 , G01S17/89 , G01S17/931
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：US11067989B2
公开(公告)日：2021-07-20
申请号：US16565662
申请日：2019-09-10
Applicant: HERE GLOBAL B.V.
Inventor： Belle Walker , Uyen Nguyen , Daniel Weinstein , Pamela Korda , Xin Chen , David Doria , Phillip Bernard , Ralf Herrtwich
Abstract: An apparatus, method and computer program product are provided to facilitate the navigation of a vehicle, such as an autonomous vehicle, utilizing map data in which the quality associated with the map data is provided in a more computationally efficient manner. In the context of a method a plurality of different types of sensor data are received including map data, camera data and detector data. The method determines a quality index associated with the map data and weights the reliance upon the map data relative to other types of sensor data based upon the quality index associated with the map data. The method further includes determining navigation information for the vehicle based at least partly upon the weighting of the map data relative to other types of sensor data.
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公开(公告)号：US11055546B2
公开(公告)日：2021-07-06
申请号：US16223679
申请日：2018-12-18
Applicant: HERE Global B.V.
Inventor： David Doria , Charles Morcom , Engin Burak Anil , Fangning He , Matthew Emery Goss
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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