Title:
ポイントクラウド融合のための検出器
Document Type and Number:
Japanese Patent JP7192090
Kind Code:
B2
Abstract:
A method, apparatus, and system for determining whether all extrinsic matrices are accurate is disclosed. A plurality of post-LIDAR fusion point clouds that are based on simultaneous outputs from a plurality of LIDAR devices installed at one ADV are obtained. The obtained plurality of point clouds are filtered to obtain a first set of points comprising all points in the plurality of point clouds that fall within a region of interest. Each point in the first set of points corresponds to one coordinate value on the axis in the up-down direction. A distribution of the first plurality of coordinate values is obtained. A quantity of peaks in the distribution of the first plurality of coordinate values is determined. Whether all extrinsic matrices associated with the plurality of LIDAR devices are accurate is determined based on the quantity of peaks in the distribution of the first plurality of coordinate values.
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Inventors:
Ryu, Shan
Chan, Shuan
Gao, Bin
Gao, Dongqiao
ju, fan
Chan, Shuan
Gao, Bin
Gao, Dongqiao
ju, fan
Application Number:
JP2021507469A
Publication Date:
December 19, 2022
Filing Date:
May 15, 2020
Export Citation:
Assignee:
Baidu.com Times Technology (Beijing) Co., Ltd.
Baidu USA LLC
Baidu USA LLC
International Classes:
G01S7/497; B60W60/00; G01S17/89; G01S17/931
Domestic Patent References:
| JP2020020684A | ||||
| JP2019053034A | ||||
| JP2010151680A | ||||
| JP2020061125A |
Foreign References:
| US20180313942 |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
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