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公开(公告)号：US09704291B2
公开(公告)日：2017-07-11
申请号：US14075017
申请日：2013-11-08
Applicant: HERE Global B.V.
Abstract: Constructing a three dimensional (3D) model of a structure may involve receiving a 3D surface representing a geographic area, the surface having elevation values associated with points of the surface and the geographic area comprises a structure having a geographic footprint smaller than the geographic area. Constructing a 3D model may also involve projecting the elevation values into a two dimensional (2D) plane. Further, a 3D model may be constructed of the structure by assigning model heights based on the elevation values projected into points of the 2D plane.
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12.发明申请METHOD AND APPARATUS FOR MULTI-RESOLUTION POINT OF INTEREST BOUNDARY IDENTIFICATION IN DIGITAL MAP RENDERING 有权用于数字地图渲染中利益边界识别的多分辨率点的方法和装置公开(公告)号：US20150261785A1
公开(公告)日：2015-09-17
申请号：US14206503
申请日：2014-03-12
Applicant: HERE Global B.V.
CPC classification number: G09G5/377 , G01C21/3682 , G06F3/1407 , G06T2210/36 , G09G2340/10 , G09G2370/022
Abstract: A method, apparatus and computer program product are provided for multi-resolution point of interest boundary identification in digital map rendering. A method is provided for receiving a point of interest selection indication. The method also includes receiving point of interest boundary data and map data associated with the selected point of interest from a memory. The boundary data is based on the physical shape of the structure or region associated with the point of interest. The method also includes overlaying point of interest boundary data on the map data; and causing the map data with point of interest boundary data overlay to be displayed on a user interface.
Abstract translation: 提供了一种方法，装置和计算机程序产品，用于数字地图渲染中的多分辨率点边界识别。 提供了一种用于接收兴趣点选择指示的方法。 该方法还包括从存储器接收兴趣点边界数据和与所选择的兴趣点相关联的地图数据。 边界数据基于与兴趣点相关联的结构或区域的物理形状。 该方法还包括在地图数据上叠加兴趣点边界数据; 并使用兴趣点边界数据覆盖的地图数据显示在用户界面上。
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公开(公告)号：US20150130797A1
公开(公告)日：2015-05-14
申请号：US14075017
申请日：2013-11-08
Applicant: HERE Global B.V.
Abstract: Constructing a three dimensional (3D) model of a structure may involve receiving a 3D surface representing a geographic area, the surface having elevation values associated with points of the surface and the geographic area comprises a structure having a geographic footprint smaller than the geographic area. Constructing a 3D model may also involve projecting the elevation values into a two dimensional (2D) plane. Further, a 3D model may be constructed of the structure by assigning model heights based on the elevation values projected into points of the 2D plane.
Abstract translation: 构造结构的三维（3D）模型可以涉及接收表示地理区域的3D表面，具有与表面的点和地理区域相关联的高度值的表面包括具有小于地理区域的地理足迹的结构。 构建3D模型还可以涉及将高程值投影到二维（2D）平面中。 此外，可以通过基于投影到2D平面的点的高程值来分配模型高度来构造3D模型。
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公开(公告)号：US20150120244A1
公开(公告)日：2015-04-30
申请号：US14068710
申请日：2013-10-31
Applicant: HERE Global B.V.
CPC classification number: G01S17/89 , G01B11/02 , G01C15/00 , G01C21/3602 , G01S7/4808 , G06K9/00798 , G06T7/60 , G06T7/75 , G06T2207/10028 , G06T2207/20021 , G06T2207/30252
Abstract: A method, apparatus, and computer program product are disclosed to estimate road widths, irrespective of the presence of curbs or occlusions on the road surface. In the context of a method, a point cloud representing terrain is accessed. In one embodiment, the point cloud may be generated from lidar scanning during a trip. The point cloud is divided into sections representing portions of the terrain. The method further includes, for each section, identifying a ground planar surface of the section, estimating a drive plane of the section based on the ground planar surface and a drive direction, and calculating a road width of the section based on the ground planar surface and drive plane. The method may further include applying a smoothing algorithm to adjust the calculated road width of at least one section. A corresponding apparatus and computer program product are also provided.
Abstract translation: 公开了一种估计道路宽度的方法，装置和计算机程序产品，而不管路面上是否存在路缘石或闭塞。 在方法的上下文中，访问表示地形的点云。 在一个实施例中，点云可以在行程期间从激光雷达扫描产生。 点云分为表示地形部分的部分。 该方法还包括：对于每个部分，识别该部分的地面平面，基于地面平面和驱动方向估计该部分的驱动平面，并且基于地面平面计算该部分的道路宽度 和驱动飞机。 该方法还可以包括应用平滑算法来调整至少一个部分的计算的道路宽度。 还提供了相应的装置和计算机程序产品。
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公开(公告)号：US20150097834A1
公开(公告)日：2015-04-09
申请号：US14048513
申请日：2013-10-08
Applicant: HERE Global B.V.
IPC: G06T15/60
Abstract: Methods for rendering three-dimensional photo meshes having dynamic content include: (a) detecting a shadow in a three-dimensional photo mesh; (b) removing the shadow from the three-dimensional photo mesh to form a modified photo mesh having a shadow-free texture; (c) simulating a real-time condition in the modified photo mesh; and (d) rendering an image that shows an effect of the real-time condition. Systems for rendering three-dimensional photo meshes having dynamic content are described.
Abstract translation: 用于渲染具有动态内容的三维照片网格的方法包括：（a）检测三维照片网格中的阴影; （b）从三维照相网中去除阴影以形成具有无阴影纹理的改性光栅; （c）模拟修改光网中的实时状态; 和（d）渲染显示实时状况影响的图像。 描述了用于渲染具有动态内容的三维照片网格的系统。
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Patent Agency Ranking
公开(公告)号：US10699135B2
公开(公告)日：2020-06-30
申请号：US15818230
申请日：2017-11-20
Applicant: HERE Global B.V.
Inventor： Qilin Zhang , Xiang Ma , Xin Chen , Sanjay Sood , Mark Tabb , Chen Luo
Abstract: Apparatus and methods are described for generating geometries for stripe-shaped objects. An image is identified that includes a roadway having one or more stripe-shaped objects. The stripe-shaped objects may include lane lines for road edges or lanes of the roadway. The stripe-shaped objects may include a barrier. At least one targeted region within the image is determined. The at least one targeted region is shaped to intersect the one or more stripe-shaped objects and includes a plurality of pixels. An image analysis is performed on the image to determine when the at least one target region includes a pixel in common with the one or more stripe-shaped objects. A geometry is constructed using the pixel in common. The geometry may be used to update a map or subsequently perform localization.
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公开(公告)号：US10002537B2
公开(公告)日：2018-06-19
申请号：US15628985
申请日：2017-06-21
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
CPC classification number: G08G1/167 , G01S13/931 , G01S15/931 , G01S17/936 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9367 , G08G1/0112 , G08G1/0133 , G08G1/0141 , G08G1/165
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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公开(公告)号：US20170287337A1
公开(公告)日：2017-10-05
申请号：US15628985
申请日：2017-06-21
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
CPC classification number: G08G1/167 , G01S13/931 , G01S15/931 , G01S17/936 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9367 , G08G1/0112 , G08G1/0133 , G08G1/0141 , G08G1/165
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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公开(公告)号：US09459626B2
公开(公告)日：2016-10-04
申请号：US14567343
申请日：2014-12-11
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vlad Zhukov , Xiaotao Zou
CPC classification number: G05D1/0221 , G01C21/32 , G01C21/3407 , G05D1/0088 , G05D2201/0212 , G06K9/00818 , G06K9/627 , G06K9/6287 , G08G1/0112 , G08G1/0129 , G08G1/0141 , G08G1/09623 , G08G1/096716 , G08G1/096725 , G08G1/096758 , G08G1/096791
Abstract: Systems, methods, and apparatuses are disclosed for identifying road signs along a roadway segment from vehicle probe data. Probe data is received from vehicle sensors at a road segment, wherein the probe data includes observed static objects along the road segment. Road signs are identified within the observed static objects of the probe data using a logistic regression algorithm. The geographic location of the identified road signs are determined using a linear regression algorithm.
Abstract translation: 公开了用于从车辆探测数据识别沿道路段的道路标志的系统，方法和装置。 从路段的车辆传感器接收探测数据，其中探测数据包括沿着路段的观察到的静态物体。 使用逻辑回归算法，在观察到的探测数据的静态对象内识别路标。 使用线性回归算法确定所识别的路标的地理位置。
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公开(公告)号：US09449227B2
公开(公告)日：2016-09-20
申请号：US14150147
申请日：2014-01-08
Applicant: HERE Global B.V.
Inventor： Xin Chen , Roman Ostrovskiy , Xiang Ma
CPC classification number: G06K9/0063 , G01S17/89 , G06T17/05 , G06T19/20 , G06T2210/56 , G06T2219/2012
Abstract: Systems/apparatuses and methods are provided for creating aerial images. A three-dimensional point cloud image is generated from an optical distancing system. Additionally, at least one two-dimensional street level image is generated from at least one camera. The three-dimensional point cloud image is colorized with the at least one two-dimensional street level image, thereby forming a colorized three-dimensional point cloud image. The colorized three-dimensional point cloud image is projected onto a two-dimensional plane, using a processor, thereby forming a synthetic aerial image.
Abstract translation: 提供用于创建航空图像的系统/装置和方法。 从光学距离系统产生三维点云图像。 另外，至少一个二维街道图像从至少一个照相机产生。 利用至少一个二维街道图像对三维点云图像进行着色，由此形成着色的三维点云图像。 着色的三维点云图像使用处理器投影到二维平面上，从而形成合成的空间图像。
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