| 主权项 |
1. A computer-implemented method of automatically detecting an obstacle from a moving vehicle using a planar sensor mounted on the vehicle, the method comprising:
(a) receiving data at a computer system from the sensor, said data comprising a series of points defined by a planar coordinate system relative to the sensor where the sensor detected a return during a frame indicating a potential obstacle, and receiving data at the computer system indicating a geo-referenced location and orientation of the vehicle; (b) identifying, by the computer system, an obstacle candidate profile from the series of points; (c) transforming, by the computer system, the obstacle candidate profile from a sensor-relative representation to a geo-referenced representation; (d) repeating steps (a) to (c) for a given number of frames for said potential obstacle from different vehicle locations as the vehicle travels; (e) determining, by the computer system, whether or not the obstacle candidate profiles in the geo-referenced representation for each of the given number of frames substantially coincide; and (f) detecting, by the computer system, an obstacle when the obstacle candidate profiles in the geo-referenced representation for each of the given number of frames substantially coincide. |
