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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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