公开(公告)号：US20230350064A1

公开(公告)日：2023-11-02

申请号：US17731131

申请日：2022-04-27

Applicant: Waymo LLC

Inventor： Xiaoxiang Hu ,  Clayton Kunz ,  David Gallup ,  Grigory Dzhavadyan

IPC: G01S17/89 ,  G06T7/521 ,  G01S7/48 ,  G01S17/18

CPC classification number: G01S17/89 ,  G06T7/521 ,  G01S7/4802 ,  G01S17/18 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.

公开(公告)号：US12298400B2

公开(公告)日：2025-05-13

申请号：US17731131

申请日：2022-04-27

Applicant: Waymo LLC

Inventor： Xiaoxiang Hu ,  Clayton Kunz ,  David Gallup ,  Grigory Dzhavadyan

IPC: G01S17/89 ,  G01S7/48 ,  G01S17/18 ,  G06T7/521

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.