Among other things, techniques are described for spatially and temporally consistent ground modelling with information fusion. A vehicle location and orientation is obtained and an instantaneous ground height estimation is obtained for anchor cells of a grid map of the vehicle based on the obtained vehicle location and orientation. A pseudo ground height associated with non-anchor cells of the grid map is computed. A Bayesian filtering framework is used to generate 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. The vehicle operates according to the final ground height estimate.
Spatially and temporally consistent ground modelling with information fusion
28.02.2024
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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