US 12,140,446 B2
Automatic annotation of environmental features in a map during navigation of a vehicle
Paul Stephen Rempola Averilla, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by MOTIONAL AD LLC, Boston, MA (US)
Filed on Aug. 25, 2023, as Appl. No. 18/456,068.
Application 18/456,068 is a continuation of application No. 17/734,755, filed on May 2, 2022, granted, now 11,774,261.
Application 17/734,755 is a continuation of application No. 16/656,919, filed on Oct. 18, 2019, granted, now 11,340,080, issued on May 24, 2022.
Claims priority of provisional application 62/802,677, filed on Feb. 7, 2019.
Claims priority of provisional application 62/752,299, filed on Oct. 29, 2018.
Prior Publication US 2023/0408286 A1, Dec. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/36 (2006.01); G01C 21/16 (2006.01); G01S 17/89 (2020.01); G01S 19/42 (2010.01); G06T 17/05 (2011.01); G06T 19/00 (2011.01); G05D 1/00 (2024.01)
CPC G01C 21/3673 (2013.01) [G01C 21/16 (2013.01); G01S 17/89 (2013.01); G01S 19/42 (2013.01); G06T 17/05 (2013.01); G06T 19/00 (2013.01); G06T 2219/004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating, using one or more processors, a geometric model of a feature in an environment of a vehicle based on sensor data obtained by one or more sensors, the generating comprising:
associating, using the one or more processors, the feature with an area within the environment;
determining, using the one or more processors, at least one drivable segment from the area;
determining, using the one or more processors, based on intensity values or a color model of the sensor data, a plurality of geometric blocks corresponding to the at least one drivable segment; and
generating, using the one or more processors, a polygon comprising the plurality of geometric blocks; and
annotating, using the one or more processors, the geometric model based on the polygon.