Title:
METHODS AND SYSTEMS FOR OBJECT DETECTION USING LASER POINT CLOUDS
Document Type and Number:
Japanese Patent JP2019050035
Kind Code:
A
Abstract:
To provide methods and systems for object detection using laser point clouds.SOLUTION: A computing device receives laser data indicative of vehicle's environment from a sensor and generates a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment on the basis of the laser data. The computing device modifies the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which involves providing values to the given pixels on the basis of an average value of neighboring pixels positioned near the given pixels. Additionally, the computing device determines normal vectors of sets of pixels that correspond to surfaces of objects in the environment on the basis of the modified 2D range image, and uses the normal vectors to provide object recognition information to systems of the vehicle.SELECTED DRAWING: Figure 3
Inventors:
JAMES STOUT
ZHU JIAJUN
ZHU JIAJUN
Application Number:
JP2018218790A
Publication Date:
March 28, 2019
Filing Date:
November 22, 2018
Export Citation:
Assignee:
WAYMO LLC
International Classes:
G01S17/89; G06T7/521; G01S17/931; G06T7/00
Domestic Patent References:
| JPH07134030A | 1995-05-23 | |||
| JP2013002909A | 2013-01-07 | |||
| JP2013088188A | 2013-05-13 | |||
| JP2006308378A | 2006-11-09 | |||
| JP2006322852A | 2006-11-30 |
Foreign References:
| US20140028678A1 | 2014-01-30 |
Other References:
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H. BADINO ET AL.: ""Fast and Accurate Computation of Surface Normals from Range Images"", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, JPN6019050463, 9 May 2011 (2011-05-09), US, pages 3084 - 3091, XP032034096, ISSN: 0004181937, DOI: 10.1109/ICRA.2011.5980275
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大橋 剛介、外３名: "“超音波エコー画像の３次元表示のためのニューラルネットワークを用いた輪郭抽出法”", 電子情報通信学会論文誌, vol. 76, no. 2, JPN6019050462, 25 February 1993 (1993-02-25), JP, pages 368 - 373, ISSN: 0004181936
H. BADINO ET AL.: ""Fast and Accurate Computation of Surface Normals from Range Images"", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, JPN6019050463, 9 May 2011 (2011-05-09), US, pages 3084 - 3091, XP032034096, ISSN: 0004181937, DOI: 10.1109/ICRA.2011.5980275
ZHENG DE-HUA ET AL.: ""Generation Method of Normal Vector from Disordered Point Cloud"", 2009 URBAN REMOTE SENSING JOINT EVENT, JPN6019050464, 20 May 2009 (2009-05-20), US, pages 1 - 5, XP031481458, ISSN: 0004181938
Attorney, Agent or Firm:
Yoshiyuki Inaba
Mutsumi Sato
Mutsumi Sato