公开(公告)号：US09709679B1

公开(公告)日：2017-07-18

申请号：US14452894

申请日：2014-08-06

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Andrew Hughes Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

IPC: G01C21/00 ,  G01S17/89

CPC classification number: G01S17/89 ,  G01C21/32 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0213 ,  G09B29/12

Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

公开(公告)号：US10185324B1

公开(公告)日：2019-01-22

申请号：US15631253

申请日：2017-06-23

Applicant: Waymo LLC

Inventor： Christopher Paul Urmson ,  Andrew Hughes Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

IPC: G01C21/00 ,  G05D1/02 ,  G01C21/32 ,  G09B29/12

Abstract: Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.