POINT CLOUDS GHOSTING EFFECTS DETECTION SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

• Main Authors: YU LI, YUAN PENGFEI, SONG SHIYU, XIAO YONG, HE RUNXIN
• Format: Patent
• Language: Chinese; English
• Published: 13.10.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequentframes, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematicvoxels belong to a wall object, and in response to determining that the problematic voxel s belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequentframe. 在一个实施方式中，系统基于点云的初始帧生成占用网格地图。系统接收点云的一个或多个后续帧。针对后续帧中的每个，系统基于后续帧来更新占用网格地图。系统基于所述更新来识别一个或多个异常体素，系统确定异常体素是否属于壁对象，并且响应于确定出异常体素属于壁对象，系统将异常体素标示为后续帧的重影效果体素。