US 12,442,896 B2
Hierarchical perception monitor for vehicle safety
Cornelius Buerkle, Karlsruhe (DE); and Fabian Oboril, Karlsruhe (DE)
Assigned to REALSENSE LTD., Tel Aviv (IL)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Sep. 30, 2022, as Appl. No. 17/956,871.
Claims priority of provisional application 63/313,284, filed on Feb. 24, 2022.
Prior Publication US 2023/0036324 A1, Feb. 2, 2023
Int. Cl. G01S 7/48 (2006.01); G01S 17/42 (2006.01); G01S 17/86 (2020.01); G06T 7/11 (2017.01); G06T 7/521 (2017.01)
CPC G01S 7/4808 (2013.01) [G01S 7/4802 (2013.01); G01S 17/42 (2013.01); G01S 17/86 (2020.01); G06T 7/11 (2017.01); G06T 7/521 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20016 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/30261 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A device comprising a processor configured to:
receive from a sensor a plurality of sensed points representing distance measurements to points in an area around a vehicle, wherein the sensor comprises at least one of a LiDAR sensor, a stereo-camera sensor, a depth image sensor, an infrared sensor, and a radar sensor;
determine, for each sensed point of the plurality of sensed points, one or more probabilities that the sensed point is associated with an obstacle in the area around the vehicle, wherein each probability of the one or more probabilities is based on a corresponding filter of one or more filters;
generate a filtered point cloud from the plurality of sensed points based on, for each sensed point, a hierarchical combination of the one or more probabilities; and
control a safety operation of the vehicle based on the filtered point cloud.