Patent attributes
Various types of systems or technologies can be used to collect data in a 3D space. For example, LiDAR (light detection and ranging) and RADAR (radio detection and ranging) systems are commonly used to generate point cloud data for 3D space around vehicles, for such functions as localization, mapping, and tracking. This disclosure provides improved techniques for processing the point cloud data that has been collected. The improved techniques include mapping 3D point cloud data points into a 2D depth map, fetching a group of the mapped 3D point cloud data points that are within a bounded window of the 2D depth map; and generating geometric space parameters based on the group of the mapped 3D point cloud data points. The generated geometric space parameters may be used for object motion, obstacle detection, freespace detection, and/or landmark detection for an area surrounding a vehicle.
