| 摘要 |
A method, apparatus, and computer program product are disclosed to estimate road widths, irrespective of the presence of curbs or occlusions on the road surface. In the context of a method, a point cloud representing terrain is accessed. In one embodiment, the point cloud may be generated from lidar scanning during a trip. The point cloud is divided into sections representing portions of the terrain. The method further includes, for each section, identifying a ground planar surface of the section, estimating a drive plane of the section based on the ground planar surface and a drive direction, and calculating a road width of the section based on the ground planar surface and drive plane. The method may further include applying a smoothing algorithm to adjust the calculated road width of at least one section. A corresponding apparatus and computer program product are also provided. |
