公开(公告)号：US20230003893A1

公开(公告)日：2023-01-05

申请号：US17931473

申请日：2022-09-12

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Zhenpeng HE ,  Lingfeng QIAN ,  Liangjun ZHANG

IPC: G01S17/89 ,  G01S7/48

Abstract: A method for detecting an operating terrain is provided. The method includes obtaining point cloud data of an operating region that are collected by a laser radar at a current time, including three-dimensional coordinates of a plurality of sampling points. The operating region is divided into a plurality of grids, each having a corresponding height value. The method includes for any grid determining an input point of the grid from the plurality of sampling points, based on the three-dimensional coordinates. The method includes determining a type of the input point, based on a height coordinate of the input point and the height value of the grid. The type includes a noise point and a ground point. The method includes in response to determining that the input point is the ground point, updating the height value of the grid based on the height coordinate of the input point.