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US 2014/0350835 A1Published application
Method and system for obstacle detection for vehicles using planar sensor data
AssigneeJaybridge Robotics, Inc.
InventorBradley A. Martin
Life of this patent
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Abstract
A computer-implemented method and system for automatically detecting an obstacle from a moving vehicle using a planar sensor mounted on the vehicle.
Claims19
A computer-implemented method of automatically detecting an obstacle from a moving vehicle using a planar sensor mounted on the vehicle, the method comprising:
- (a) receiving data at a computer system from the sensor, said data comprising a series of points defined by a planar coordinate system relative to the sensor where the sensor detected a return during a frame, and receiving data at the computer system indicating the vehicle's geo-referenced location and orientation;
- (b) identifying, by the computer system, an obstacle candidate profile from the series of points;
- (c) transforming, by the computer system, the obstacle candidate profile from a sensor-relative representation to a geo-referenced representation;
- (d) repeating steps (a) to (c) for a given number of frames;
- and
- (e) detecting, by the computer system, an obstacle when the obstacle candidate profiles in the geo-referenced representation for each of the given number of frames substantially coincide.
3 more elements
A computer system, comprising:
- at least one processor;
- memory associated with the at least one processor;
- and
- a program supported in the memory for automatically detecting an obstacle from a moving vehicle using a planar sensor mounted on the vehicle, the program having a plurality of instructions stored therein which, when executed by the at least one processor, cause the at least one processor to:
- (a) receive data from the sensor, said data comprising a series of points defined by a planar coordinate system relative to the sensor where the sensor detected a return during a frame, and receive data indicating the vehicle's geo-referenced location and orientation;
- (b) identify an obstacle candidate profile from the series of points;
- (c) transform the obstacle candidate profile from a sensor-relative representation to a geo-referenced representation;
- (d) repeat (a) to (c) for a given number of frames;
- and
- (e) detect an obstacle when the obstacle candidate profiles in the geo-referenced representation for each of the given number of frames substantially coincide.
7 more elements
Dependencies are inferred from the claim text.