公开(公告)号：US11834065B2

公开(公告)日：2023-12-05

申请号：US17128946

申请日：2020-12-21

申请人： Argo AI

发明人： Eric Alexander Westman ,  Xxx Xinjilefu

IPC分类号： B60W60/00 ,  G08G1/137 ,  G01S17/89 ,  G05D1/00 ,  G01C21/00 ,  G05D1/02

CPC分类号： B60W60/001 ,  G01C21/3815 ,  G01S17/89 ,  G05D1/0088 ,  G05D1/0236 ,  G08G1/137 ,  B60W2420/52 ,  B60W2552/53 ,  G05D2201/0213

摘要： Systems, methods, and autonomous vehicles for detecting road marking points from LiDAR data may obtain a LiDAR dataset generated by a LiDAR system; process, for each laser emitter of the LiDAR system, a point cloud associated with that laser emitter by: determining, for each point in the point cloud, based on a gradient of intensity at that point, whether that point corresponds to a gradient edge point; and determining, based on intensities of points in an interior segment of points between at least one candidate pair of gradient edge points and intensities of points in exterior segments of points outside the at least one candidate pair of gradient edge points, whether that candidate pair of gradient edge points corresponds to a road marking edge; and aggregate, from the processing of the plurality of point clouds, candidate pairs of gradient edge points determined to correspond to road marking edges.

公开(公告)号：US20220194413A1

公开(公告)日：2022-06-23

申请号：US17128946

申请日：2020-12-21

申请人： Argo AI

发明人： Eric Alexander Westman ,  Xxx Xinjilefu

IPC分类号： B60W60/00 ,  G08G1/137 ,  G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  G01C21/00

摘要： Systems, methods, and autonomous vehicles for detecting road marking points from LiDAR data may obtain a LiDAR dataset generated by a LiDAR system; process, for each laser emitter of the LiDAR system, a point cloud associated with that laser emitter by: determining, for each point in the point cloud, based on a gradient of intensity at that point, whether that point corresponds to a gradient edge point; and determining, based on intensities of points in an interior segment of points between at least one candidate pair of gradient edge points and intensities of points in exterior segments of points outside the at least one candidate pair of gradient edge points, whether that candidate pair of gradient edge points corresponds to a road marking edge; and aggregate, from the processing of the plurality of point clouds, candidate pairs of gradient edge points determined to correspond to road marking edges.