US 12,140,675 B2
Sensor based map generation and routing
Yan Mayster, Aurora, CO (US); Brian Daniel Shucker, Superior, CO (US); and Stephane Gilles Belmon, Louisville, CO (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Appl. No. 16/972,447
Filed by Google LLC, Mountain View, CA (US); Yan Mayster, Aurora, CO (US); Brian Daniel Shucker, Superior, CO (US); and Stephane Gilles Belmon, Louisville, CO (US)
PCT Filed Aug. 10, 2020, PCT No. PCT/US2020/045621
§ 371(c)(1), (2) Date Dec. 4, 2020,
PCT Pub. No. WO2022/035417, PCT Pub. Date Feb. 17, 2022.
Prior Publication US 2023/0161043 A1, May 25, 2023
Int. Cl. G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/931 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of generating a route through a geographic area, the computer-implemented method comprising:
accessing, by a computing system comprising one or more processors, map data comprising information associated with one or more locations of one or more objects in a geographic area;
determining, by the computing system, based at least in part on the map data, that one or more portions of the geographic area that indicate a presence of the one or more objects are associated with a plurality of light detection and ranging (LiDAR) returns associated with detection of the geographic area by one or more LiDAR devices;
generating, by the computing system, an unoccupied cell map for the geographic area based at least in part on the plurality of LiDAR returns associated with the detection of the geographic area by the one or more LiDAR devices, wherein the unoccupied cell map comprises one or more unoccupied cells associated with one or more unoccupied portions of the geographic area;
receiving, by the computing system, route request data associated with a request for a route from a starting location to one or more destination locations within the geographic area;
accessing, by the computing system, based at least in part on the route request data, the unoccupied cell map;
determining, by the computing system, based at least in part on the unoccupied cell map, a route comprising the one or more unoccupied cells between a starting location and one or more destination locations within the geographic area; and
generating, by the computing system, one or more indications associated with the route.