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公开(公告)号：US11417114B2
公开(公告)日：2022-08-16
申请号：US16914082
申请日：2020-06-26
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Jingjing Xue
Abstract: A method and apparatus for processing information are provided. A specific embodiment of the method includes: identifying at least one obstacle from a point cloud collected by a lidar during a traveling process of a vehicle; for an obstacle in the at least one obstacle, determining an appearance rate of the obstacle within a life cycle corresponding to the obstacle; determining a confidence degree of a grid region of at least one grid region based on appearance rates of obstacles in the at least one obstacle; determining a target grid region from the at least one grid region based on the confidence degree, and determining whether an obstacle detected in the target grid region is an obstacle detected for a first time; and if yes, filtering out a point cloud corresponding to the obstacle detected in the target grid region for the first time.
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Patent Agency Ranking
公开(公告)号：US11579307B2
公开(公告)日：2023-02-14
申请号：US16915541
申请日：2020-06-29
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Jingjing Xue , Fan Yang , Junping Wang , Chengfa Wang
IPC: G01S17/931 , G01S7/48 , G01S17/89
Abstract: Embodiments of the present disclosure provide a method and apparatus for detecting an obstacle. The method may include: acquiring first point cloud data collected by a first vehicle-mounted laser radar and second point cloud data collected by a second vehicle-mounted laser radar, where a height of the first vehicle-mounted laser radar from a ground is greater than a height of the second vehicle-mounted laser radar from the ground, and a number of wiring harnesses of the first vehicle-mounted laser radar is greater than a number of wiring harnesses of the second vehicle-mounted laser radar; performing ground estimation based on the first point cloud data; filtering out a ground point in the second point cloud data according to the ground estimation result of the first point cloud data; and performing obstacle detection based on the second point cloud data after the ground point is filtered out.
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公开(公告)号：US11328518B2
公开(公告)日：2022-05-10
申请号：US16912352
申请日：2020-06-25
Inventor： Xiang Liu , Shuang Zhang , Bin Gao , Xiaoxing Zhu , Jingjing Xue , Fan Yang , Junping Wang , Chengfa Wang
Abstract: Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method may include: acquiring point cloud data and image data collected by a vehicle during a driving process; determining a plurality of time thresholds based on a preset time threshold value range; executing following processing for each time threshold: identifying obstacles included in each point cloud frame and each image frame respectively; determining a similarity between the obstacles; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine the number of obstacles; and determining, based on a plurality of numbers, and outputting a target time threshold.
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公开(公告)号：US11724721B2
公开(公告)日：2023-08-15
申请号：US16915546
申请日：2020-06-29
Inventor： Xiang Liu , Bin Gao , Shuang Zhang , Xiaoxing Zhu , Jingjing Xue , Junping Wang , Chengfa Wang
IPC: B60W60/00
CPC classification number: B60W60/00272 , B60W60/0017 , B60W2554/4029 , B60W2554/4044
Abstract: A method, including: acquiring a point cloud frame including point cloud data of a pedestrian; projecting the point cloud data of the pedestrian to a ground coordinate system to obtain projection point data of the pedestrian; determining a direction of a connection line between the two shoulders of the pedestrian, based on a location distribution of the projection point data; extracting a point cloud of a stable region from the point cloud data of the pedestrian based on the direction of the connection line between the two shoulders of the pedestrian, a form change range of the stable region when the pedestrian moves being smaller than form change ranges of other regions of the pedestrian; and determining movement information of the pedestrian based on a coordinate of a center point of the point cloud of the stable region in a plurality of consecutive point cloud frames.
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公开(公告)号：US11694359B2
公开(公告)日：2023-07-04
申请号：US16914121
申请日：2020-06-26
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Fan Yang , Junping Wang
CPC classification number: G06T7/80 , B60W50/06 , B60W60/0025 , G06T7/246 , B60W2420/42 , B60W2420/52 , G06T2207/10028 , G06T2207/30252
Abstract: A method and apparatus for calibrating a camera are provided. A specific embodiment of the method includes: acquiring an image-point cloud sequence, the image-point cloud sequence including at least one group of an initial image and point cloud data collected at a same time, the initial image being collected by a camera provided on an autonomous vehicle and the point cloud data being collected by a radar provided on the autonomous vehicle; determining target point cloud data of initial images corresponding to groups of image-point cloud in the image-point cloud sequence; and matching the target point cloud data with the corresponding initial images in the image-point cloud sequence to determine a correction parameter of the camera.
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公开(公告)号：US11328429B2
公开(公告)日：2022-05-10
申请号：US16807936
申请日：2020-03-03
Inventor： Xiang Liu , Shuang Zhang , Bin Gao , Xiaoxing Zhu
Abstract: Embodiments of the present disclosure relate to a method and apparatus for detecting ground point cloud points. The method may include: determining a segmentation plane and a ground based on a point cloud collected by a lidar; segmenting the point cloud into a first sub point cloud and a second sub point cloud based on the segmentation plane; and determining the point cloud points whose distances from the ground are smaller than a first distance threshold in the first sub point cloud as ground point cloud points, and determining the point cloud points whose distances from the ground are smaller than a second distance threshold in the second sub point cloud as the ground point cloud points, where the first distance threshold is smaller than the second distance threshold.
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