| CPC G06V 10/803 (2022.01) [G01S 15/86 (2020.01); G01S 15/931 (2013.01); G05D 1/0253 (2013.01); G06T 7/13 (2017.01); G06T 2207/30261 (2013.01)] | 20 Claims |
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1. A system, comprising:
a memory that stores computer executable components; and
a processor that executes at least one of the computer executable components that:
obtains, from one or more ultrasonic sensors, first raw data defining a first representation of an environment around an object from a vantage of the object;
generates, using the first raw data, first polygon measurements of a boundary of a first polygon, wherein the first polygon represents a first region extending from the object within a first combined measurement range of the one or more ultrasonic sensors that is free from obstacles;
obtains, from one or more camera sensors, second raw data defining a second representation of the environment around the object from the vantage of the object;
generates, using the second raw data, second polygon measurements of a boundary of a second polygon, wherein the second polygon represents a second region extending from the object within a second combined measurement range of the one or more camera sensors that is free from obstacles; and
generates, based on a defined process that employs a combination of the first polygon measurements and the second polygon measurements, third polygon measurements of a boundary of a virtual polygon representing an obstacle-free region about the object.
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9. A computer-implemented method, comprising:
obtaining, by a system operatively coupled to a processor, from one or more ultrasonic sensors, first raw data defining a first representation of an environment around a vehicle from a vantage of the vehicle;
generating, by the system, using the first raw data, first polygon measurements of a boundary of a first polygon, wherein the first polygon represents a first region extending from the vehicle within a first combined measurement range of the one or more ultrasonic sensors that is free from obstacles;
obtaining, by the system, from one or more camera sensors, second raw data defining a second representation of the environment around the vehicle from the vantage of the vehicle;
generating, using the second raw data, second polygon measurements of a boundary of a second polygon, wherein the second polygon represents a second region extending from the vehicle within a second combined measurement range of the one or more camera sensors that is free from obstacles; and
generating, by the system, based on a defined process that employs a combination of the first polygon measurements and the second polygon measurements, third polygon measurements of a boundary of a virtual polygon representing an obstacle-free region about the vehicle.
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17. A computer program product providing a process to determine free space around an object, the computer program product comprising a non-transitory computer readable medium having program instructions embodied therewith, the program instructions executable by a processor to cause the processor to:
obtain, from one or more ultrasonic sensors, first raw data defining a first representation of an environment around a vehicle from a vantage of the vehicle;
generate, using the first raw data, first polygon measurements of a boundary of a first polygon, wherein the first polygon represents a first region extending from the vehicle within a first combined measurement range of the one or more ultrasonic sensors that is free from obstacles;
obtain, from one or more camera sensors, second raw data defining a second representation of the environment around the vehicle from the vantage of the vehicle;
generate, using the second raw data, second polygon measurements of a boundary of a second polygon, wherein the second polygon represents a second region extending from the vehicle within a second combined measurement range of the one or more camera sensors that is free from obstacles; and
generate, based on a defined process that employs a combination of the first polygon measurements and the second polygon measurements, third polygon measurements of a boundary of a virtual polygon representing an obstacle-free region about the vehicle.
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