Method of adjusting grid spacing of height map for autonomous driving
AssigneesHyundai Motor Company, Kia Corporation
InventorKeon Chang LEE
Life of this patent
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Abstract
A method of adjusting a grid spacing of a height map for autonomous driving, may include acquiring a 2D image of a region ahead of a vehicle, generating a depth map using depth information on an object present in the 2D image, converting the generated depth map into a 3D point cloud, generating the height map by mapping the 3D point cloud onto a grid having a predetermined size, and adjusting a grid spacing of the height map in consideration of the driving state of the vehicle relative to the object.
Claims19
A method of adjusting a grid spacing of a height map for autonomous driving, the method comprising:
- acquiring a 2D image of a region ahead of a vehicle;
- generating a depth map using depth information on an object present in the 2D image and converting the generated depth map into a 3D point cloud;
- generating the height map by mapping the 3D point cloud onto a grid having a predetermined size;
- and
- adjusting the grid spacing of the height map according to a driving state of the vehicle relative to the object.
An apparatus of adjusting a grid spacing of a vehicular map, the apparatus comprising:
- a sensor configured to acquire a 2D image of a region ahead of a vehicle;
- an image processor configured to generate a depth map using depth information on an object present in the 2D image, to convert the generated depth map into a 3D point cloud, and to generate a height map by mapping the 3D point cloud onto a grid having a predetermined size;
- and
- a grid spacing adjuster configured to adjust a grid spacing of the height map according to a driving state of the vehicle relative to the object.
Dependencies are inferred from the claim text.