公开(公告)号：US11867819B2

公开(公告)日：2024-01-09

申请号：US17344297

申请日：2021-06-10

Applicant: HERE Global B.V.

Inventor： David Doria ,  Charles Morcom ,  Engin Burak Anil ,  Fangning He ,  Matthew Emery Goss

IPC: G06T7/11 ,  G06V20/58 ,  G01S17/931 ,  G06V20/56 ,  G06V10/80 ,  G01S17/89 ,  G01S7/48 ,  G06F18/25

CPC classification number: G01S17/931 ,  G06T7/11 ,  G06V10/803 ,  G06V20/582 ,  G06V20/588 ,  G01S7/4802 ,  G01S17/89 ,  G06F18/251 ,  G06T2207/10028 ,  G06T2207/20112 ,  G06T2207/30252 ,  G06V2201/12

Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.

公开(公告)号：US20210303884A1

公开(公告)日：2021-09-30

申请号：US17344297

申请日：2021-06-10

Applicant: HERE Global B.V.

Inventor： David Doria ,  Charles Morcom ,  Engin Burak Anil ,  Fangning He ,  Matthew Emery Goss

IPC: G06K9/00 ,  G06T7/11

Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.

公开(公告)号：US11055546B2

公开(公告)日：2021-07-06

申请号：US16223679

申请日：2018-12-18

Applicant: HERE Global B.V.

Inventor： David Doria ,  Charles Morcom ,  Engin Burak Anil ,  Fangning He ,  Matthew Emery Goss

IPC: G06K9/00 ,  G06T7/11 ,  G06K9/62 ,  G01S17/89 ,  G01S7/48

Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.