Title:
POINT CLOUD OCCLUSION MAPPING FOR AUTONOMOUS VEHICLES
Document Type and Number:
WIPO Patent Application WO/2021/030598
Kind Code:
A3
Abstract:
Some embodiments of the invention include a method for updating an occlusion probability map. An occlusion probability map,ap represents the probability that a given portion of the sensor field is occluded from one or more sensors. In some embodiments, a method may include receiving field of view data from a sensor system; producing a probabilistic model of the sensor field of view; and updating an occlusion probability map using the probabilistic model and field of view data.
Inventors:
BYBEE TAYLOR (US)
FERRIN JEFFREY (US)
FERRIN JEFFREY (US)
Application Number:
PCT/US2020/046197
Publication Date:
April 01, 2021
Filing Date:
August 13, 2020
Export Citation:
Assignee:
AUTONOMOUS SOLUTIONS INC (US)
International Classes:
G01C21/32; G01C21/34; G01C21/36; G05D3/12; G06V10/764
Foreign References:
| US20170357267A1 | 2017-12-14 | |||
| US20170039765A1 | 2017-02-09 | |||
| US20170192436A1 | 2017-07-06 | |||
| US20110050940A1 | 2011-03-03 | |||
| US20110064302A1 | 2011-03-17 |
Other References:
NAGUIB ET AL.: "Cognitive Recognition under Occlusion for a Visually Guided Robotic Errand Service", SPRINGER INTERNATIONAL PUBLISHING, 2011, Berlin Heidelberg, pages 81 - 94, XP055807800, Retrieved from the Internet [retrieved on 20201125]
BYBEE ET AL.: "Algorithm for point cloud occlusion mapping on an autonomous ground vehicle", AUTONOMOUS GROUND SYSTEMS (AGS) TECHNICAL SESSION, 19 August 2019 (2019-08-19), XP055807803, Retrieved from the Internet [retrieved on 20201125]
BYBEE ET AL.: "Algorithm for point cloud occlusion mapping on an autonomous ground vehicle", AUTONOMOUS GROUND SYSTEMS (AGS) TECHNICAL SESSION, 19 August 2019 (2019-08-19), XP055807803, Retrieved from the Internet
Attorney, Agent or Firm:
SANDERS, Jason A. (US)
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