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公开(公告)号：US11315317B2
公开(公告)日：2022-04-26
申请号：US16336888
申请日：2019-01-30
发明人： Li Yu , Pengfei Yuan , Yong Xiao , Runxin He , Shiyu Song
摘要： In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequent frames, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematic voxels belong to a wall object, and in response to determining that the problematic voxels belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequent frame.
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公开(公告)号：US20210350147A1
公开(公告)日：2021-11-11
申请号：US16336877
申请日：2019-01-30
发明人： Pengfei Yuan , Yong Xiao , Runxin He , Li Yu , Shiyu Song
摘要： In one embodiment, a system identifies a road to be navigated by an ADV, the road being captured by one or more point clouds from one or more LIDAR sensors. The system extracts road marking information of the identified road from the point clouds, the road marking information describing one or more road markings of the identified road. The system partitions the road into one or more road partitions based on the road markings. The system generates a point cloud map based on the road partitions, where the point cloud map is utilized to perceive a driving environment surrounding the ADV.
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3.发明申请公开(公告)号：US20210158546A1
公开(公告)日：2021-05-27
申请号：US16692956
申请日：2019-11-22
申请人： Baidu USA LLC
发明人： Runxin He , Shiyu Song , Li Yu , Wendong Ding , Pengfei Yuan
摘要： In one embodiment, a system and method for point cloud registration of LIDAR poses of an autonomous driving vehicle (ADV) is disclosed. The method selects poses of the point clouds that possess higher confidence level during the data capture phase as fixed anchor poses. The fixed anchor points are used to estimate and optimize the poses of non-anchor poses during point cloud registration. The method may partition the points clouds into blocks to perform the ICP algorithm for each block in parallel by minimizing the cost function of the bundle adjustment equation updated with a regularity term. The regularity term may measure the difference between current estimates of the poses and previous or the initial estimates. The method may also minimize the bundle adjustment equation updated with a regularity term when solving the pose graph problem to merge the optimized poses from the blocks to make connections between the blocks.
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公开(公告)号：US11688082B2
公开(公告)日：2023-06-27
申请号：US16692960
申请日：2019-11-22
申请人： Baidu USA LLC
发明人： Runxin He , Shiyu Song , Li Yu , Wendong Ding , Pengfei Yuan
IPC分类号： G06T7/33 , G06T7/73 , G01S17/42 , G01S17/931 , G01S7/48
CPC分类号： G06T7/33 , G01S7/4808 , G01S17/42 , G01S17/931 , G06T7/73 , G06T2207/10028 , G06T2207/20072 , G06T2207/20221 , G06T2207/30252
摘要： In one embodiment, a system and method for partitioning a region for point cloud registration of LIDAR poses of an autonomous driving vehicle (ADV) using a regional iterative closest point (ICP) algorithm is disclosed. The method determines the frame pair size of one or more pairs of related LIDAR poses of a region of an HD map to be constructed. If the frame pair size is greater than a threshold, the region is further divided into multiple clusters. The method may perform the ICP algorithm for each cluster. Inside a cluster, the ICP algorithm focuses on a partial subset of the decision variables and assumes the rest of the decision variables are fixed. To construct the HD map, the method may determine if the results of the ICP algorithms from the clusters converge. If the solutions converge, a solution to the point cloud registration for the region is found.
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公开(公告)号：US11468690B2
公开(公告)日：2022-10-11
申请号：US16336877
申请日：2019-01-30
发明人： Pengfei Yuan , Yong Xiao , Runxin He , Li Yu , Shiyu Song
IPC分类号： B60W40/06 , B60W60/00 , G01C21/00 , G01S17/42 , G01S17/89 , G01S7/48 , G06K9/62 , G06T17/05 , G06T5/00 , G06T7/11 , G06V10/30 , G06V10/44 , G06V20/56
摘要： In one embodiment, a system identifies a road to be navigated by an ADV, the road being captured by one or more point clouds from one or more LIDAR sensors. The system extracts road marking information of the identified road from the point clouds, the road marking information describing one or more road markings of the identified road. The system partitions the road into one or more road partitions based on the road markings. The system generates a point cloud map based on the road partitions, where the point cloud map is utilized to perceive a driving environment surrounding the ADV.
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公开(公告)号：US11608078B2
公开(公告)日：2023-03-21
申请号：US16336858
申请日：2019-01-30
发明人： Runxin He , Yong Xiao , Pengfei Yuan , Li Yu , Shiyu Song
摘要： In one embodiment, a system is disclosed for registration of point clouds for autonomous driving vehicles (ADV). The system receives a number of point clouds and corresponding poses from ADVs equipped with LIDAR sensors capturing point clouds of a navigable area to be mapped, where the point clouds correspond to a first coordinate system. The system partitions the point clouds and the corresponding poses into one or more loop partitions based on navigable loop information captured by the point clouds. For each of the loop partitions, the system applies an optimization model to point clouds corresponding to the loop partition to register the point clouds. They system merges the one or more loop partitions together using a pose graph algorithm, where the merged partitions of point clouds are utilized to perceive a driving environment surrounding the ADV.
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7.发明授权公开(公告)号：US11521329B2
公开(公告)日：2022-12-06
申请号：US16692956
申请日：2019-11-22
申请人： Baidu USA LLC
发明人： Runxin He , Shiyu Song , Li Yu , Wendong Ding , Pengfei Yuan
摘要： In one embodiment, a system and method for point cloud registration of LIDAR poses of an autonomous driving vehicle (ADV) is disclosed. The method selects poses of the point clouds that possess higher confidence level during the data capture phase as fixed anchor poses. The fixed anchor points are used to estimate and optimize the poses of non-anchor poses during point cloud registration. The method may partition the points clouds into blocks to perform the ICP algorithm for each block in parallel by minimizing the cost function of the bundle adjustment equation updated with a regularity term. The regularity term may measure the difference between current estimates of the poses and previous or the initial estimates. The method may also minimize the bundle adjustment equation updated with a regularity term when solving the pose graph problem to merge the optimized poses from the blocks to make connections between the blocks.
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公开(公告)号：US20210370968A1
公开(公告)日：2021-12-02
申请号：US16336867
申请日：2019-01-30
发明人： Yong Xiao , Runxin He , Pengfei Yuan , Li Yu , Shiyu Song
摘要： In one embodiment, a system receives a stream of frames of point clouds from one or more LIDAR sensors of an ADV and corresponding poses in real-time. The system extracts segment information for each frame of the stream based on geometric or spatial attributes of points in the frame, where the segment information includes one or more segments of at least a first frame corresponding to a first pose. The system registers the stream of frames based on the segment information. The system generates a first point cloud map for the stream of frames based on the frame registration.
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公开(公告)号：US20210327128A1
公开(公告)日：2021-10-21
申请号：US16336888
申请日：2019-01-30
发明人： Li Yu , Pengfei Yuan , Yong Xiao , Runxin He , Shiyu Song
摘要： In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequent frames, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematic voxels belong to a wall object, and in response to determining that the problematic voxels belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequent frame.
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公开(公告)号：US11465642B2
公开(公告)日：2022-10-11
申请号：US16336867
申请日：2019-01-30
发明人： Yong Xiao , Runxin He , Pengfei Yuan , Li Yu , Shiyu Song
摘要： In one embodiment, a system receives a stream of frames of point clouds from one or more LIDAR sensors of an ADV and corresponding poses in real-time. The system extracts segment information for each frame of the stream based on geometric or spatial attributes of points in the frame, where the segment information includes one or more segments of at least a first frame corresponding to a first pose. The system registers the stream of frames based on the segment information. The system generates a first point cloud map for the stream of frames based on the frame registration.
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