Title:
FREE SPACE GENERATION METHOD, MOVABLE PLATFORM AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/000221
Kind Code:
A1
Abstract:
A free space generation method, comprising: acquiring point cloud data, and generating an initial free space according to the point cloud data (S101); performing convolution on grids in the initial free space, so as to obtain a convolution result (S102); filtering the grids in the initial free space according to the convolution result, so as to obtain candidate free spaces (S103); and determining a plurality of target road edge points in the point cloud data, and generating a target free space according to the plurality of target road edge points and the candidate free spaces (S104). By means of the method, the accuracy of a free space is improved.
Inventors:
YANG SHUAI (CN)
ZHU YANCHEN (CN)
LI YANZHAO (CN)
ZHU YANCHEN (CN)
LI YANZHAO (CN)
Application Number:
PCT/CN2021/107684
Publication Date:
January 26, 2023
Filing Date:
July 21, 2021
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G06T7/62
Foreign References:
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| CN113030997A | 2021-06-25 | |||
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Other References:
DUAN JIANMIN, WANG CHANGREN; REN LU; LIU DAN: "Algorithm of driving area information extraction based on multi-layer lidar", APPLICATION OF ELECTRONIC TECHNIQUE, HUABEI JISUAN JIXI TONGGONGCHENG YANJIUSUO (XINXI YEBU DIANZI LIUSUO), CN, vol. 43, no. 10, 31 October 2017 (2017-10-31), CN , pages 78 - 82, XP093026881, ISSN: 0258-7998, DOI: 10.16157/j.issn.0258-7998.170392
THOMAS JULIAN; TATSCH JULIAN; VAN EKEREN WIM; ROJAS RAUL; KNOLL ALOIS: "Semantic Grid-Based Road Model Estimation for Autonomous Driving", 2019 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE, 9 June 2019 (2019-06-09), pages 2329 - 2336, XP033605931, DOI: 10.1109/IVS.2019.8813790
THOMAS JULIAN; TATSCH JULIAN; VAN EKEREN WIM; ROJAS RAUL; KNOLL ALOIS: "Semantic Grid-Based Road Model Estimation for Autonomous Driving", 2019 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE, 9 June 2019 (2019-06-09), pages 2329 - 2336, XP033605931, DOI: 10.1109/IVS.2019.8813790
Attorney, Agent or Firm:
SHENZHEN LIDAO INTELLECTUAL PROPERTY AGENCY (GENERAL PARTNERSHIP) (CN)
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