公开(公告)号：US10066946B2

公开(公告)日：2018-09-04

申请号：US15248714

申请日：2016-08-26

Applicant: HERE Global B.V.

Inventor： David Doria ,  Xin Chen

IPC: G01C21/32 ,  G06T17/05 ,  G01S17/89 ,  G01S7/48 ,  G06T7/00

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.