Title:
A POINT CLOUD FEATURE-BASED OBSTACLE FILTER SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/189375
Kind Code:
A1
Abstract:
A method, apparatus, and system for filtering obstacle candidates determined based on outputs of a LIDAR device in an autonomous vehicle is disclosed. A point cloud comprising a plurality of points is generated based on outputs of the LIDAR device (610). One or more obstacle candidates are determined based on the point cloud (620). The one or more obstacle candidates are filtered to remove a first set of obstacle candidates in the one or more obstacle candidates that correspond to noise based at least in part on characteristics associated with points that correspond to each of the one or more obstacle candidates (630). One or more recognized obstacles comprising the obstacle candidates that have not been removed are determined (640). Operations of an autonomous vehicle are controlled based on the recognized obstacles (650).
Inventors:
LIU XIANG (CN)
GAO DONGCHAO (CN)
ZHU FAN (US)
GAO DONGCHAO (CN)
ZHU FAN (US)
Application Number:
PCT/CN2020/081475
Publication Date:
September 30, 2021
Filing Date:
March 26, 2020
Export Citation:
Assignee:
BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)
BAIDU USA LLC (US)
International Classes:
G01S17/93; G06T5/00
Domestic Patent References:
| WO2019133922A1 | 2019-07-04 |
Foreign References:
| CN104156926A | 2014-11-19 | |||
| CN108846809A | 2018-11-20 | |||
| CN109100741A | 2018-12-28 | |||
| CN109858460A | 2019-06-07 | |||
| CN110136072A | 2019-08-16 | |||
| CN109214994A | 2019-01-15 | |||
| CN106548520A | 2017-03-29 |
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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