US 11,379,684 B2 · Time of flight data segmentation

Abstract

Techniques are discussed for segmenting sensor data captured by a sensor to remove a ground surface from the sensor data. A first technique includes capturing sensor data represented as multichannel image and segmenting the image according to image processing techniques. The ground surface can be removed from the sensor data, and a subset of the sensor data can be associated with a voxel space. A second technique includes capturing sensor data and unprojecting the sensor data to generate three dimensional data, which can be associated with a voxel space. Ground plane data associated with a location can be accessed or determined and voxel data that is within a threshold height of the ground plane data can be removed from the voxel space. Clustering techniques can determine objects represented in the data, and a vehicle can be controlled based on the objects.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data representing an environment associated with a vehicle;
inputting the sensor data into a machine learned model;
receiving, from the machine learned model, segmentation information for individual elements of the sensor data;
associating the segmentation information with a voxel grid;
determining, based at least in part on the segmentation information, that a first portion of the sensor data represents a ground surface in the environment;
removing data representing the ground surface from the sensor data;
and
determining that a second portion of the sensor data represents an object in the environment.

8 more elements

Dependencies are inferred from the claim text.

Time of flight data segmentation

Life of this patent

Time of flight data segmentation

Life of this patent

Abstract

Claims20