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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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公开(公告)号：US20160260322A1
公开(公告)日：2016-09-08
申请号：US15155701
申请日：2016-05-16
Applicant: HERE Global B.V.
Inventor： Xin Chen , Vladimir Zhukov
IPC: G08G1/01
CPC classification number: G08G1/0112 , G01C7/04 , G08G1/0129 , G08G1/0141
Abstract: Systems, methods, and apparatuses are disclosed for identifying anomalies or changes in road conditions on a roadway location. An initial low rank data matrix of initial vehicle probe data at a plurality of different times for a roadway location is provided, where the initial low rank data matrix represents a baseline of road conditions for the roadway location. A plurality of additional vehicle probe data from at least one vehicle at the roadway location is received. The additional vehicle probe data is added to the initial vehicle probe data of the initial low rank data matrix. The updated data matrix with the compiled probe data is decomposed into a low rank data matrix and a sparse data matrix. A change at the roadway location is identified based on the probe data in the sparse data matrix.
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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：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：US20200182969A1
公开(公告)日：2020-06-11
申请号：US16213261
申请日：2018-12-07
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen
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：US20160171884A1
公开(公告)日：2016-06-16
申请号：US14567106
申请日：2014-12-11
Applicant: HERE Global B.V.
Inventor： Xin Chen , Vladimir Zhukov
IPC: G08G1/01
CPC classification number: G08G1/0112 , G01C7/04 , G08G1/0129 , G08G1/0141
Abstract: Systems, methods, and apparatuses are disclosed for identifying anomalies or changes in road conditions on a roadway location. An initial low rank data matrix of initial vehicle probe data at a plurality of different times for a roadway location is provided, where the initial low rank data matrix represents a baseline of road conditions for the roadway location. A plurality of additional vehicle probe data from at least one vehicle at the roadway location is received. The additional vehicle probe data is added to the initial vehicle probe data of the initial low rank data matrix. The updated data matrix with the compiled probe data is decomposed into a low rank data matrix and a sparse data matrix. A change at the roadway location is identified based on the probe data in the sparse data matrix.
Abstract translation: 公开了用于识别道路位置处的道路状况的异常或变化的系统，方法和装置。 提供了用于道路位置的多个不同时间的初始车辆探测数据的初始低秩数据矩阵，其中初始低秩数据矩阵表示道路位置的道路状况的基线。 接收来自道路位置处的至少一辆车辆的多个附加车辆探测数据。 额外的车辆探测数据被添加到初始低秩数据矩阵的初始车辆探测数据中。 具有编译的探测数据的更新数据矩阵被分解为低秩数据矩阵和稀疏数据矩阵。 基于稀疏数据矩阵中的探测数据识别道路位置的变化。
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公开(公告)号：US20160167582A1
公开(公告)日：2016-06-16
申请号：US14572336
申请日：2014-12-16
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
IPC: B60R1/00
CPC classification number: G06K9/00798 , G08G1/0112
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from vehicle camera sensors at a road segment, wherein the probe data includes lane marking data on the road segment. Lane markings are identified, to the extent present, for the left and right boundaries of the lane of travel as well as the adjacent lane boundaries to the left and right of the lane of travel. The identified lane markings are coded, wherein solid lane lines, dashed lane lines, and unidentified or non-existing lane lines are differentiated. The coded lane markings are compiled in a database. A number of lanes are predicted at the road segment from the database of coded lane markings.
Abstract translation: 公开了用于根据车辆探测数据确定道路段的车道信息的系统，方法和装置。 探测器数据在道路段从车辆摄像机传感器接收，其中探测数据包括道路段上的车道标记数据。 在行程车道的左边界和右边界以及行车道左侧和右边的相邻车道边界上，确定车道标记。 识别的车道标记被编码，其中实线的车道线，虚线，以及不明或不存在的车道线被区分。 编码的车道标记在数据库中编译。 在编码车道标记的数据库中，在道路段预测了一些车道。
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