| 摘要 |
PROBLEM TO BE SOLVED: To provide methods and systems for object detection using laser point clouds.SOLUTION: A computing device receives laser data indicative of a vehicle's environment from a sensor and generates a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment on the basis of the laser data. The computing device modifies the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which involves providing values to the given pixels on the basis of the average value of neighboring pixels positioned near the given pixels. Additionally, the computing device determines normal vectors of sets of pixels that correspond to surfaces of objects in the environment on the basis of the modified 2D range image, and uses the normal vectors to provide object recognition information to systems of the vehicle. |
