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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：US20190086928A1
公开(公告)日：2019-03-21
申请号：US15705750
申请日：2017-09-15
Applicant: HERE Global B.V.
Inventor： Bin Chen , David Doria , Hank Sutton , Ian Endres
Abstract: A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface.
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公开(公告)号：US11691630B2
公开(公告)日：2023-07-04
申请号：US16225829
申请日：2018-12-19
Applicant: HERE Global B.V.
Inventor： Charles Morcom , Zichen Li , David Doria
CPC classification number: B60W40/06 , G01S17/89 , G06T7/521 , G06T17/20 , G06T2207/10028 , G06T2207/30248
Abstract: A method for road surface detection includes receiving ranging data including a plurality of ranging data points, extracting one or more ranging data points lying within a height range from the plurality of ranging data points, dividing the one or more ranging data points into one or more grid cells, setting a first horizontal position of a first cell point of a first grid cell of the one or more grid cells as being centered on the first grid cell, setting a first vertical position of the first cell point, and detecting the road surface based on the first vertical position and first horizontal position of the first cell point.
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公开(公告)号：US20210382144A1
公开(公告)日：2021-12-09
申请号：US17409380
申请日：2021-08-23
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：US11035678B2
公开(公告)日：2021-06-15
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：US20210042500A1
公开(公告)日：2021-02-11
申请号：US17079107
申请日：2020-10-23
Applicant: HERE Global B.V.
Inventor： Nezih Ergin Ozkucur , Fangning He , David Doria , Engin Burak Anil
Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects 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 pole-like object model is accessed and compared to the received sensor data. 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：US20210004013A1
公开(公告)日：2021-01-07
申请号：US17026684
申请日：2020-09-21
Applicant: HERE Global B.V.
Inventor： Bin Chen , David Doria , Hank Sutton , Ian Endres
Abstract: A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface.
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公开(公告)号：US10809728B2
公开(公告)日：2020-10-20
申请号：US15705750
申请日：2017-09-15
Applicant: HERE Global B.V.
Inventor： Bin Chen , David Doria , Hank Sutton , Ian Endres
Abstract: A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface.
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公开(公告)号：US10802485B2
公开(公告)日：2020-10-13
申请号：US15728153
申请日：2017-10-09
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：US20200182627A1
公开(公告)日：2020-06-11
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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