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公开(公告)号:US20200150235A1
公开(公告)日:2020-05-14
申请号:US16679099
申请日:2019-11-08
Applicant: Aptiv Technologies Limited
Inventor: Oscar Olof Beijbom , Alex Hunter Lang
Abstract: Among other things, we describe techniques for detecting objects in the environment surrounding a vehicle. A computer system is configured to receive a set of measurements from a sensor of a vehicle. The set of measurements includes a plurality of data points that represent a plurality of objects in a 3D space surrounding the vehicle. The system divides the 3D space into a plurality of pillars. The system then assigns each data point of the plurality of data points to a pillar in the plurality of pillars. The system generates a pseudo-image based on the plurality of pillars. The pseudo-image includes, for each pillar of the plurality of pillars, a corresponding feature representation of data points assigned to the pillar. The system detects the plurality of objects based on an analysis of the pseudo-image. The system then operates the vehicle based upon the detecting of the objects.