System and method for drivable road surface representation generation using multimodal sensor data
AssigneeTusimple, Inc.
InventorsLigeng ZHU, Panqu WANG, Pengfei CHEN
Life of this patent
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Abstract
A system and method for drivable road surface representation generation using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle and receiving three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle; projecting the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data; performing post-processing operations on the mapped image and point cloud data; and performing a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
Claims20
A system comprising:
- a data processor;
- and
- a multimodal drivable road surface detection module, executable by the data processor, the multimodal drivable road surface detection module being configured to perform a multimodal drivable road surface detection operation configured to:
- receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle;
- project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data;
- perform post-processing operations on the mapped image and point cloud data;
- and
- perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
A method comprising:
- receiving image data from an image generating device mounted on a vehicle and receiving three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle;
- projecting the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data;
- performing post-processing operations on the mapped image and point cloud data;
- and
- performing a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
- receive image data from an image generating device mounted on a vehicle and to receive three dimensional (3D) point cloud data from a distance measuring device mounted on the vehicle;
- project the 3D point cloud data onto the 2D image data to produce mapped image and point cloud data;
- perform post-processing operations on the mapped image and point cloud data;
- and
- perform a smoothing operation on the processed mapped image and point cloud data to produce a drivable road surface map or representation.
Dependencies are inferred from the claim text.