| CPC G06V 10/776 (2022.01) [G06V 10/751 (2022.01); G06V 20/56 (2022.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from a sensor device, sensor data associated with an autonomous vehicle operating in an environment;
associating the sensor data with a voxel space;
determining, based at least in part on the sensor data within the voxel space, that a subset of voxels of the voxel space are laterally adjacent to one another;
determining, based at least in part on a voxel of the subset of voxels, a first plane associated with a first resolution representing a first region of space of the environment;
determining, based at least in part on the voxel, a second plane and a third plane associated with a second resolution, the second resolution differing from the first resolution, wherein a second region of space associated with the second plane and the third plane corresponds to a portion of the first region of space of the first plane;
determining a first validation result associated with the first plane;
determining a second validation result associated with the second plane and a third validation result associated with the third plane;
determining, based at least in part on the first validation result, the second validation result, and the third validation result, that planes are associated with a ground surface;
determining, based at least in part on the planes being associated with the ground surface, a connection between the planes; and
controlling, based at least in part on the connection of the planes, the autonomous vehicle within the environment.
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