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公开(公告)号：US11782129B2
公开(公告)日：2023-10-10
申请号：US17409380
申请日：2021-08-23
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen
IPC: G01S7/48 , G01S17/931 , G01S17/89
CPC classification number: G01S7/4808 , G01S17/89 , G01S17/931
Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.
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公开(公告)号：US11761789B2
公开(公告)日：2023-09-19
申请号：US16701270
申请日：2019-12-03
Applicant: HERE Global B.V.
Inventor： Xiang Ma , Xin Chen , Vlad Zhukov
CPC classification number: G01C21/3841 , G01C21/3819 , G08G1/0112 , G08G1/0129 , G01C21/32
Abstract: An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to:
generate, in respect of a road intersection, grouped probe data using probe data derived from probed vehicular movements through the road intersection, wherein the grouped probe data is generated by grouping together probe data comprising vehicle trajectories which have respective common heading angles at points of entry to and exit from the road intersection; and
provide the grouped probe data for use in lane-level mapping of the road intersection.-
公开(公告)号：US20200182626A1
公开(公告)日：2020-06-11
申请号：US16210553
申请日：2018-12-05
Applicant: HERE Global B.V.
Inventor： Fangning He , David Doria , Xin Chen , Charles Morcom
Abstract: Embodiments include apparatus and methods for automatic generation of local window-based 2D occupancy grids that represent roadside objects at a region of a roadway and automatic localization based on the 2D occupancy grids. 2D occupancy grids are generated based on an altitude threshold for point cloud data and grid cell occupancy for grid cells of local windows associated with the region of the roadway. The 2D occupancy grids are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed 2D occupancy grids and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.
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公开(公告)号：US10444954B2
公开(公告)日：2019-10-15
申请号：US14076636
申请日：2013-11-11
Applicant: HERE Global B.V.
IPC: G06F3/0484 , G01C21/36 , G06F3/0481 , G06F16/9535
Abstract: A method and apparatus for rendering geographic areas involves presenting at least part of the geographic area in a distinctive fashion. An area of interest is identified. A location of the area of interest as a geographic sub-area within a geographic area is determined. A representation of the area of interest within an electronic model of the geographic area is located. A view of the electronic model of the geographic area comprising the representation of the area of interest is selected, and the view of the electronic model with the area of interest having a different display characteristic than other geographic sub-areas shown in the view is presented. The different display characteristic distinguishes the area of interest from the other geographic sub-areas.
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公开(公告)号：US20190279049A1
公开(公告)日：2019-09-12
申请号：US15913432
申请日：2018-03-06
Applicant: HERE Global B.V.
Inventor： David Doria , Xin Chen , Peter Forbes , David Vandebunte
Abstract: Embodiments include apparatus and methods for automatic generation of object polylines that represent roadside objects at a region of a roadway and automatic localization based on the object polylines. Object polylines are generated based on occupied voxels closest to the roadway of one or more voxel occupancy grids associated with the region of the roadway. The object polylines are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed object polylines and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.
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Patent Agency Ranking
公开(公告)号：US20190156128A1
公开(公告)日：2019-05-23
申请号：US15818230
申请日：2017-11-20
Applicant: HERE Global B.V.
Inventor： Qilin Zhang , Xiang Ma , Xin Chen , Sanjay Sood , Mark Tabb , Chen Luo
CPC classification number: G06K9/00798 , G01C21/34 , G05D1/0212 , G05D2201/0213 , G06K9/4609 , G06K9/6256 , G06K9/6274 , G08G1/167
Abstract: Apparatus and methods are described for generating geometries for stripe-shaped objects. An image is identified that includes a roadway having one or more stripe-shaped objects. The stripe-shaped objects may include lane lines for road edges or lanes of the roadway. The stripe-shaped objects may include a barrier. At least one targeted region within the image is determined. The at least one targeted region is shaped to intersect the one or more stripe-shaped objects and includes a plurality of pixels. An image analysis is performed on the image to determine when the at least one target region includes a pixel in common with the one or more stripe-shaped objects. A geometry is constructed using the pixel in common. The geometry may be used to update a map or subsequently perform localization.
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公开(公告)号：US10089417B2
公开(公告)日：2018-10-02
申请号：US14038322
申请日：2013-09-26
Applicant: HERE Global B.V.
Abstract: Structure boundaries may be determined by receiving a plurality of three dimensional (3D) data points representing a geographic area. The 3D data points may be projected into a two dimensional (2D) grid comprised of area elements. A structure boundary may be determined based on an analysis of the area elements.
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公开(公告)号：US09986154B2
公开(公告)日：2018-05-29
申请号：US14283566
申请日：2014-05-21
Applicant: HERE Global B.V.
Inventor： Xin Chen , Roman Ostrovskiy
CPC classification number: H04N5/23238 , G06T11/60 , G06T15/00 , G06T17/00 , G06T2210/56
Abstract: Systems, apparatus, and methods are provided for producing an improved panoramic image. A three-dimensional point cloud image is generated from an optical distancing system. Additionally, at least one two-dimensional image is generated from at least one camera. The three-dimensional point cloud image is colorized with the at least one two-dimensional image, thereby forming a colorized three-dimensional point cloud image. An equal area projection panoramic image is synthesized from the colorized three-dimensional point cloud, wherein the panoramic image comprises a plurality of pixels, and each pixel in the plurality of pixels represents a same amount of area.
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公开(公告)号：US09881497B2
公开(公告)日：2018-01-30
申请号：US15155701
申请日：2016-05-16
Applicant: HERE Global B.V.
Inventor： Xin Chen , Vladimir Zhukov
CPC classification number: G08G1/0112 , G01C7/04 , G08G1/0129 , G08G1/0141
Abstract: Systems, methods, and apparatuses are disclosed for identifying anomalies or changes in road conditions on a roadway location. An initial low rank data matrix of initial vehicle probe data at a plurality of different times for a roadway location is provided, where the initial low rank data matrix represents a baseline of road conditions for the roadway location. A plurality of additional vehicle probe data from at least one vehicle at the roadway location is received. The additional vehicle probe data is added to the initial vehicle probe data of the initial low rank data matrix. The updated data matrix with the compiled probe data is decomposed into a low rank data matrix and a sparse data matrix. A change at the roadway location is identified based on the probe data in the sparse data matrix.
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公开(公告)号：US09721471B2
公开(公告)日：2017-08-01
申请号：US14572197
申请日：2014-12-16
Applicant: HERE Global B.V.
Inventor： Xin Chen , Di Ma , Xiang Ma , Roman Ostrovskiy , Vladimir Zhukov , Xiaotao Zou
CPC classification number: G08G1/167 , G01S13/931 , G01S15/931 , G01S17/936 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9367 , G08G1/0112 , G08G1/0133 , G08G1/0141 , G08G1/165
Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.
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