Original sensor data is received from one or more sensors of a vehicle. Free space around the vehicle is identified according to the sensor data, such as by identifying regions where data points have a height below a threshold. A location for an object model is selected from the free space. A plane is fitted to sensor data around the location and the object model is oriented according to an orientation of the plane. Sensing of the object model by a sensor of the vehicle is simulated to obtain simulated data, which is then added to the original sensor data. Sensor data corresponding to objects that would have been obscured by the object model is removed from the original sensor data. Augmented sensor data may be used to validate a control algorithm or train a machine learning model.
Augmenting real sensor recordings with simulated sensor data
2022-11-01
Patent
Electronic Resource
English
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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