US 11,741,709 B2
Method and system for analyzing surroundings of an autonomous or semi-autonomous vehicle
Kristjan Korjus, Tallinn (EE); Sergii Kharagorgiiev, Tallinn (EE); Ahti Heinla, Tallinn (EE); and Tanel Pärnamaa, Tallinn (EE)
Assigned to Starship Technologies OÜ, Tallinn (EE)
Appl. No. 17/57,086
Filed by Starship Technologies OÜ, Tallinn (EE)
PCT Filed May 20, 2019, PCT No. PCT/EP2019/063003
§ 371(c)(1), (2) Date Nov. 19, 2020,
PCT Pub. No. WO2019/224162, PCT Pub. Date Nov. 28, 2019.
Claims priority of application No. 18173530 (EP), filed on May 22, 2018; and application No. 18215499 (EP), filed on Dec. 21, 2018.
Prior Publication US 2021/0209367 A1, Jul. 8, 2021
Int. Cl. G06V 20/00 (2022.01); G06V 20/58 (2022.01); G06V 40/10 (2022.01)
CPC G06V 20/38 (2022.01) [G06V 20/58 (2022.01); G06V 40/10 (2022.01)] 53 Claims
OG exemplary drawing
 
1. A method for operating a semi-autonomous or autonomous vehicle, the method comprising:
the vehicle traveling in an outdoor setting;
capturing data related to the outdoor setting via at least one first sensor;
preprocessing captured data to identify areas of interest corresponding to at least one segment of the outdoor setting and to produce preprocessed data;
identifying occlusion present in the preprocessed data;
computing a distance range between the vehicle and the identified occlusion; and
discarding the identified occlusion if a minimum possible distance between the vehicle and the identified occlusion is above a predetermined threshold.