Traffic light occlusion detection for autonomous vehicle

An occlusion detection system for an autonomous vehicle is described herein, where a signal conversion system receives a three-dimensional sensor signal from a sensor system and projects the three-dimensional sensor signal into a two-dimensional range image having a plurality of pixel values that in...

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Bibliographic Details
Main Author Creusot, Clement
Format Patent
LanguageEnglish
Published 05.01.2021
Subjects
CALCULATING
COMPUTING
CONTROLLING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:An occlusion detection system for an autonomous vehicle is described herein, where a signal conversion system receives a three-dimensional sensor signal from a sensor system and projects the three-dimensional sensor signal into a two-dimensional range image having a plurality of pixel values that include distance information to objects captured in the range image. A localization system detects a first object in the range image, such as a traffic light, having first distance information and a second object in the range image, such as a foreground object, having second distance information. An occlusion polygon is defined around the second object and the range image is provided to an object perception system that excludes information within the occlusion polygon to determine a configuration of the first object. A directive is output by the object perception system to control the autonomous vehicle based upon occlusion detection.
Bibliography:Application Number: US201816124243