公开(公告)号：US11691630B2

公开(公告)日：2023-07-04

申请号：US16225829

申请日：2018-12-19

Applicant: HERE Global B.V.

Inventor： Charles Morcom ,  Zichen Li ,  David Doria

IPC: G06T7/521 ,  B60W40/06 ,  G01S17/89 ,  G06T17/20

CPC classification number: B60W40/06 ,  G01S17/89 ,  G06T7/521 ,  G06T17/20 ,  G06T2207/10028 ,  G06T2207/30248

Abstract: A method for road surface detection includes receiving ranging data including a plurality of ranging data points, extracting one or more ranging data points lying within a height range from the plurality of ranging data points, dividing the one or more ranging data points into one or more grid cells, setting a first horizontal position of a first cell point of a first grid cell of the one or more grid cells as being centered on the first grid cell, setting a first vertical position of the first cell point, and detecting the road surface based on the first vertical position and first horizontal position of the first cell point.

公开(公告)号：US20190138823A1

公开(公告)日：2019-05-09

申请号：US15808277

申请日：2017-11-09

Applicant: HERE Global B.V.

Inventor： David Doria ,  Xin Chen ,  Coby Spolin Parker ,  Zichen Li

IPC: G06K9/00 ,  G06T7/521 ,  G01S17/93

Abstract: The present embodiments provide for automatically detecting the location and severity of occluded regions within input data. A grid representation of a scene is generated from a data set, characterizing spaces of the grid representation as free, occupied, and hidden/occluded. The grid is bounded, and a connected component analysis is performed on the hidden space to identify the occluded regions.

公开(公告)号：US10552689B2

公开(公告)日：2020-02-04

申请号：US15808277

申请日：2017-11-09

Applicant: HERE Global B.V.

Inventor： David Doria ,  Xin Chen ,  Coby Spolin Parker ,  Zichen Li

IPC: G06K9/00 ,  G01S17/89 ,  G01S17/42 ,  G06T7/521 ,  G01S17/93 ,  G01S7/48 ,  G05D1/02

Abstract: The present embodiments provide for automatically detecting the location and severity of occluded regions within input data. A grid representation of a scene is generated from a data set, characterizing spaces of the grid representation as free, occupied, and hidden/occluded. The grid is bounded, and a connected component analysis is performed on the hidden space to identify the occluded regions.

公开(公告)号：US20190130182A1

公开(公告)日：2019-05-02

申请号：US15800945

申请日：2017-11-01

Applicant: HERE Global B.V.

Inventor： Andi Zang ,  Zichen Li

IPC: G06K9/00 ,  G06K9/46 ,  G03B15/00

Abstract: Apparatus and methods are described for roadway lane line detection. An aerial image including a plurality of pixels is received and provides to a classification model. The classification model provides probability values assigned to at least a portion of the plurality of pixels. A comparison of the probability values is performed to select at least one pixel according to the comparison. A lane line object is identified for the selected at least one pixel.