公开(公告)号：US20180074203A1

公开(公告)日：2018-03-15

申请号：US15262467

申请日：2016-09-12

Applicant: Delphi Technologies, Inc.

Inventor： DIMITRIS ZERMAS ,  IZZAT H. IZZAT ,  ANURADHA MANGALGIRI

IPC: G01S17/93 ,  G05D1/00 ,  G06N99/00 ,  G06F17/12

CPC classification number: G01S17/936 ,  G01S7/4802 ,  G01S17/89 ,  G05D1/0088 ,  G06F17/12 ,  G06K9/00805 ,  G06N99/005 ,  G06T7/11

Abstract: An object-detection system suitable for an automated vehicle includes a lidar and a controller. The lidar is used to detect a point-cloud that is organized into a plurality of scan-lines. The controller is in communication with the lidar. The controller is configured to classify each detected point in the point-cloud as a ground-point or a non-ground-point, define runs of non-ground-points, where each run characterized by one or multiple instances of adjacent non-ground-points in a scan-line separated from a subsequent run of one or more non-ground-points by at least one instance of a ground-point, define a cluster of non-ground-points associated with the object. The cluster is characterized by a first run from a first scan-line being associated with a second run from a second scan-line when a first point from the first run is displaced less than a distance-threshold from a second point from the second run.