CPC G05D 1/024 (2013.01) [G01S 17/58 (2013.01); G01S 17/66 (2013.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G05D 1/0212 (2013.01); G06T 7/11 (2017.01); G06T 7/187 (2017.01); G06V 20/56 (2022.01); G01S 13/726 (2013.01); G01S 13/862 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G01S 15/86 (2020.01); G01S 15/931 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] | 17 Claims |
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer- executable instructions that, when executed, cause the system to perform operations comprising:
receiving a lidar dataset representing an environment;
associating the lidar dataset with a voxel space, the voxel space comprising a voxel;
determining, for the voxel of the voxel space, a normal vector associated with data represented by the voxel;
determining a reference orientation;
determining that an angle between the normal vector and the reference orientation is below a threshold value;
determining, based at least in part on the normal vector associated with the voxel and on the angle being below the threshold value, that the voxel is a ground voxel;
determining a ground cluster comprising a set of ground voxels, the set of ground voxels comprising the ground voxel; and
controlling a vehicle based at least in part on the ground cluster.
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