公开(公告)号：US11668799B2

公开(公告)日：2023-06-06

申请号：US16825242

申请日：2020-03-20

Applicant: Aptiv Technologies Limited

Inventor： Mo Wu

IPC: G01S7/48 ,  G01S17/931 ,  G01S13/89 ,  G01S13/931 ,  G01S17/89 ,  G06F18/23

CPC classification number: G01S7/4808 ,  G01S13/89 ,  G01S13/931 ,  G01S17/89 ,  G01S17/931 ,  G06F18/23

Abstract: A method of detecting L-shaped target objects within a point cloud includes rotating a target point cloud through a plurality of rotation angles and generating at least one weighted histogram for each of the plurality of rotation angles, wherein the weighted histogram includes a first plurality of bins, each bin having a width defined in a first axis, wherein each bin is weighted based on a number of points located within the bin and a distance between points in a direction perpendicular to a width of the bin. A score is generated for each of the plurality of rotation angles based on the at least one weighted histogram and determining whether a target point cloud is L-shaped based on the generated scores.

公开(公告)号：US20210293930A1

公开(公告)日：2021-09-23

申请号：US16825242

申请日：2020-03-20

Applicant: Aptiv Technologies Limited

Inventor： Mo Wu

IPC: G01S7/48 ,  G01S17/931

Abstract: A method of detecting L-shaped target objects within a point cloud includes rotating a target point cloud through a plurality of rotation angles and generating at least one weighted histogram for each of the plurality of rotation angles, wherein the weighted histogram includes a first plurality of bins, each bin having a width defined in a first axis, wherein each bin is weighted based on a number of points located within the bin and a distance between points in a direction perpendicular to a width of the bin. A score is generated for each of the plurality of rotation angles based on the at least one weighted histogram and determining whether a target point cloud is L-shaped based on the generated scores.