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1. 发明授权

US08565958B1 Removing extraneous objects from maps 有权
标题翻译：从地图中移除无关物品
公开(公告)号：US08565958B1
公开(公告)日：2013-10-22
申请号：US13151461
申请日：2011-06-02
申请人： Michael Steven Montemerlo , Donald Jason Burnette , Andrew Chatham , Daniel Trawick Egnor
发明人： Michael Steven Montemerlo , Donald Jason Burnette , Andrew Chatham , Daniel Trawick Egnor
IPC分类号： G01C21/32 , G09B29/00 , G05D1/02
CPC分类号： G05D1/024 , G05D1/0274 , G05D2201/0213 , G09B29/106
摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, laser data including locations, intensities, and elevation data may be collected along a roadway in order to generate a 3D map of the roadway. In order to remove extraneous objects such as moving vehicles from the 3D map, a 2D grid of the roadway may be generated. The grid may include a plurality of cells, each representing an area of the roadway. The collected data may be sorted into the grid based on location and then evaluated to identify the lowest elevation of the cell. All data points above some threshold distance above this lowest elevation may be removed. The resulting data points may be used to generate a 3D map of the roadway which excludes the extraneous objects.
摘要翻译：本公开的方面通常涉及安全和有效地使用自主车辆。更具体地，可以沿着道路收集包括位置，强度和高程数据的激光数据，以便生成道路的3D地图。为了从3D地图移除车辆等外来物体，可能会产生道路的二维网格。网格可以包括多个单元，每个单元表示道路的区域。收集的数据可以基于位置被分类到网格中，然后被评估以识别小区的最低海拔。超过这个最低高度的某个阈值距离以上的所有数据点都可以被去除。所得到的数据点可用于生成排除外来物体的道路的3D地图。

2. 发明授权

US08885151B1 Condensing sensor data for transmission and processing 有权
标题翻译：冷凝传感器数据进行传输和处理
公开(公告)号：US08885151B1
公开(公告)日：2014-11-11
申请号：US13602665
申请日：2012-09-04
申请人： Andrew Hughes Chatham , Michael Steven Montemerlo , Daniel Trawick Egnor
发明人： Andrew Hughes Chatham , Michael Steven Montemerlo , Daniel Trawick Egnor
IPC分类号： G01S17/89
CPC分类号： G01S17/89 , G01S7/4808 , G01S17/42
摘要： Aspects of the disclosure relate generally to condensing sensor data for transmission and processing. For example, laser scan data including location, elevation, and intensity information may be collected along a roadway. This data may be sectioned into quanta representing some period of time during which the laser sweeps through a portion of its field of view. The data may also be filtered spatially to remove data outside of a threshold quality area. The data within the threshold quality area for a particular quantum may be projected onto a two-dimensional grid of cells. For each cell of the two-dimensional grid, a computer evaluates the cells to determine a set of characteristics for the cell. The sets of characteristics for all of the cells of the two-dimensional grid for the particular quantum are then sent to a central computing system for further processing.
摘要翻译：本公开的方面通常涉及冷凝用于传输和处理的传感器数据。例如，可以沿着道路收集包括位置，高程和强度信息的激光扫描数据。该数据可以被分割成表示激光扫描其视场的一部分的一段时间的量子。也可以在空间上对数据进行滤波以去除阈值质量区域之外的数据。用于特定量子的阈值质量区域内的数据可以投影到二维网格格子上。对于二维网格的每个单元，计算机评估单元以确定单元格的一组特性。然后将用于特定量子的二维网格的所有单元的特征集合发送到中央计算系统用于进一步处理。

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