US 12,271,998 B2
Spatially and temporally consistent ground modelling with information fusion
Yu Pan, Singapore (SG); Thomas Koelbaek Jespersen, Singapore (SG); and Jiong Yang, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Sep. 23, 2021, as Appl. No. 17/483,418.
Prior Publication US 2023/0089897 A1, Mar. 23, 2023
Int. Cl. G06T 17/05 (2011.01); G06F 18/2415 (2023.01); G06F 18/25 (2023.01); G06V 20/56 (2022.01); G08G 1/0967 (2006.01)
CPC G06T 17/05 (2013.01) [G06F 18/24155 (2023.01); G06F 18/253 (2023.01); G06V 20/56 (2022.01); G08G 1/096783 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining, using at least one processor, a vehicle location and orientation in an environment;
obtaining, using the at least one processor, an instantaneous ground height estimation for anchor cells of a grid map of the vehicle based on the obtained vehicle location and orientation;
computing, using the at least one processor, a pseudo ground height associated with non-anchor cells of the grid map;
generating, using the at least one processor, a final ground height estimate for the anchor cells and the non-anchor cells based on the instantaneous ground height estimation for the anchor cells, the pseudo ground height associated with non-anchor cells, an estimated ground height from a previous timestamp, or any combinations thereof; and
operating, using the at least one processor, the vehicle according to the final ground height estimate.