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- Nachgewiesen in: USPTO Patent Applications
- Sprachen: English
- Document Number: 20230324543
- Publication Date: October 12, 2023
- Appl. No: 17/658619
- Application Filed: April 08, 2022
- Claim: 1. A method of obtaining data at a vehicle for a radar layer of a map, the method comprising: obtaining, with a radar at the vehicle, radar data within a geographical region corresponding to at least a portion of the map; filtering the radar data, wherein the filtering comprises filtering the radar data on a frame-by-frame basis to remove radar data generated by moving objects; and selectively transmitting the filtered radar data, wherein the transmitting is responsive to: (i) a determination that a confidence metric, indicative of a confidence level of a 6-DOF position estimate of the vehicle, exceeds a confidence metric threshold level; (ii) a determination that a reliance metric, indicative of a reliance level of the 6-DOF position estimate of the vehicle on the radar data, exceeds a reliance metric threshold level; or a combination thereof.
- Claim: 2. The method of claim 1, wherein filtering the radar data on a frame-by-frame basis comprises identifying the radar data generated by the moving objects using (i) a Doppler velocity measured by the radar and (ii) linear and angular velocities of the vehicle when the radar data was obtained.
- Claim: 3. The method of claim 2, further comprising using a calibration transform to transform the linear and angular velocities of the vehicle to a radar frame.
- Claim: 4. The method of claim 1, further comprising, prior to obtaining the radar data: sending a notification from the vehicle to a server, wherein the notification comprises an indication of: a location of the vehicle, and a capability of the vehicle for obtaining the radar data; and subsequent to sending the notification, receiving the radar layer of the map at the vehicle from the server.
- Claim: 5. The method of claim 1, wherein filtering the radar data further comprises filtering a batch of radar data comprising plurality of frames of the radar data.
- Claim: 6. The method of claim 5, wherein filtering the batch of radar data is based on a clustering algorithm.
- Claim: 7. The method of claim 5, wherein filtering the batch of radar data comprises spatially identifying and removing outlier radar detections.
- Claim: 8. The method of claim 5, wherein filtering the batch of radar data comprises: performing a matching algorithm to determine a degree of similarity of the batch of radar data with corresponding data from the radar layer; and including the batch of radar data in the filtered radar data responsive to a determination that the degree of similarity of the batch of radar data with the corresponding data from the radar layer is below a threshold level.
- Claim: 9. The method of claim 1, wherein filtering the radar data further comprises performing random down sampling of the radar data.
- Claim: 10. The method of claim 1, wherein the determination that the confidence metric of the 6-DOF position estimate of the vehicle exceeds the confidence metric threshold level is based on a covariance matrix of the 6-DOF position estimate.
- Claim: 11. The method of claim 1, wherein the determination that the reliance of the 6-DOF position estimate of the vehicle on the radar data exceeds the reliance threshold level comprises determining the vehicle has entered a predetermined geographical area.
- Claim: 12. The method of claim 1, wherein transmitting the filtered radar data comprises sending the filtered radar data to a server, another vehicle, or both, to create or update the radar map layer of the map.
- Claim: 13. The method of claim 1, further comprising transmitting meta information associated with the filtered radar data, wherein the meta information comprises a matching metric, a statistic of radar localization success, or a sensor quality, or any combination thereof.
- Claim: 14. The method of claim 1, wherein the radar data comprises point cloud data, data vectorization, or a combination thereof.
- Claim: 15. The method of claim 1, further comprising transmitting an indication of the confidence of the 6-DOF position estimate of the vehicle.
- Claim: 16. The method of claim 1, wherein the map comprises a high definition (HD) map.
- Claim: 17. A radar unit for obtaining data at a vehicle for a radar layer of a map, the radar unit comprising: a radar; a memory; and one or more processors communicatively coupled with the radar and the memory, wherein the one or more processors are configured to: obtain, using the radar, radar data within a geographical region corresponding to at least a portion of the map; filter the radar data, wherein the filtering comprises filtering the radar data on a frame-by-frame basis to remove radar data generated by moving objects; and selectively transmit the filtered radar data, wherein the transmitting is responsive to: (i) a determination that a confidence metric, indicative of a confidence level of a 6-DOF position estimate of the vehicle, exceeds a confidence metric threshold level; (ii) a determination that a reliance metric, indicative of a reliance level of the 6-DOF position estimate of the vehicle on the radar data, exceeds a reliance metric threshold level; or a combination thereof.
- Claim: 18. The radar unit of claim 17, wherein, to filter the radar data on a frame-by-frame basis, the one or more processors are further configured to identify the radar data generated by the moving objects using (i) a Doppler velocity measured by the radar and (ii) linear and angular velocities of the vehicle when the radar data was obtained.
- Claim: 19. The radar unit of claim 18, wherein, to filter the radar data on a frame-by-frame basis, the one or more processors are further configured to use a calibration transform to transform the linear and angular velocities of the vehicle to a radar frame.
- Claim: 20. The radar unit of claim 17, wherein the one or more processors are further configured to, prior to obtaining the radar data: send a notification from the vehicle to a server, wherein the notification comprises an indication of: a location of the vehicle, and a capability of the vehicle for obtaining the radar data; and subsequent to sending the notification, receive the radar layer of the map at the vehicle from the server.
- Claim: 21. The radar unit of claim 17, wherein, to filter the radar data, the one or more processors are configured to filter a batch of radar data comprising plurality of frames of the radar data.
- Claim: 22. The radar unit of claim 21, wherein the one or more processors are configured to filter the batch of radar data based on a clustering algorithm.
- Claim: 23. The radar unit of claim 21, wherein, to filter the batch of radar data, the one or more processors are configured to spatially identify and removing outlier radar detections.
- Claim: 24. The radar unit of claim 21, wherein, to filter the batch of radar data, the one or more processors are configured to: perform a matching algorithm to determine a degree of similarity of the batch of radar data with corresponding data from the radar layer; and include the batch of radar data in the filtered radar data responsive to a determination that the degree of similarity of the batch of radar data with the corresponding data from the radar layer is below a threshold level.
- Claim: 25. The radar unit of claim 17, wherein, to filter the radar data, the one or more processors are configured to perform random down sampling of the radar data.
- Claim: 26. The radar unit of claim 17, wherein the one or more processors are configured to determine that the confidence metric of the 6-DOF position estimate of the vehicle exceeds the confidence metric threshold level based on a covariance matrix of the 6-DOF position estimate.
- Claim: 27. The radar unit of claim 17, wherein, to determine that the reliance of the 6-DOF position estimate of the vehicle on the radar data exceeds the reliance threshold level, the one or more processors are configured to determine the vehicle has entered a predetermined geographical area.
- Claim: 28. The radar unit of claim 17, wherein, to transmit the filtered radar data, the one or more processors are configured to send the filtered radar data to a server, another vehicle, or both.
- Claim: 29. The radar unit of claim 17, wherein the one or more processors are further configured to transmit meta information associated with the filtered radar data, wherein the meta information comprises a matching score, a statistic of radar localization success, or a sensor quality, or any combination thereof.
- Claim: 30. The radar unit of claim 17, wherein, to obtain the radar data, the one or more processors are configured to obtain point cloud data, data vectorization, or a combination thereof.
- Claim: 31. The radar unit of claim 17, wherein the one or more processors are further configured to transmit an indication of the confidence of the 6-DOF position estimate of the vehicle.
- Claim: 32. An apparatus for obtaining data at a vehicle for a radar layer of a map, the apparatus comprising: means for obtaining, at the vehicle, radar data within a geographical region corresponding to at least a portion of the map; means for filtering the radar data, wherein the filtering comprises filtering the radar data on a frame-by-frame basis to remove radar data generated by moving objects; and means for selectively transmitting the filtered radar data, wherein the transmitting is responsive to: (i) a determination that a confidence metric, indicative of a confidence level of a 6-DOF position estimate of the vehicle, exceeds a confidence metric threshold level; (ii) a determination that a reliance metric, indicative of a reliance level of the 6-DOF position estimate of the vehicle on the radar data, exceeds a reliance metric threshold level; or a combination thereof.
- Claim: 33. The apparatus of claim 32, wherein the means for filtering the radar data on a frame-by-frame basis comprise means for identifying the radar data generated by the moving objects using (i) a Doppler velocity measured by the radar and (ii) linear and angular velocities of the vehicle when the radar data was obtained.
- Claim: 34. The apparatus of claim 33, wherein the means for filtering the radar data on a frame-by-frame basis comprise means for using a calibration transform to transform the linear and angular velocities of the vehicle to a radar frame.
- Claim: 35. The apparatus of claim 32, further comprising: means for sending, prior to obtaining the radar data, a notification from the vehicle to a server, wherein the notification comprises an indication of: a location of the vehicle, and a capability of the vehicle for obtaining the radar data; and means for receiving, subsequent to sending the notification and prior to obtaining the radar data, the radar layer of the map at the vehicle from the server.
- Claim: 36. The apparatus of claim 32, wherein the means for filtering the radar data further comprises means for filtering a batch of radar data comprising plurality of frames of the radar data.
- Claim: 37. The apparatus of claim 32, wherein the means for filtering the radar data further comprises means for performing random down sampling of the radar data.
- Claim: 38. The apparatus of claim 32, further comprising means for determining the vehicle has entered a predetermined geographical area.
- Claim: 39. The apparatus of claim 32, wherein the means for selectively transmitting the filtered radar data comprises means for sending the filtered radar data to a server, another vehicle, or both.
- Claim: 40. The apparatus of claim 32, further comprising means for transmitting meta information associated with the filtered radar data, wherein the meta information comprises a matching score, a statistic of radar localization success, or a sensor quality, or any combination thereof.
- Claim: 41. The apparatus of claim 32, further comprising means for transmitting an indication of the confidence of the 6-DOF position estimate of the vehicle.
- Claim: 42. A non-transitory computer-readable medium storing instructions for obtaining data at a vehicle for a radar layer of an map, the instructions comprising code for: obtaining, with a radar at the vehicle, radar data within a geographical region corresponding to at least a portion of the map; filtering the radar data, wherein the filtering comprises filtering the radar data on a frame-by-frame basis to remove radar data generated by moving objects; and selectively transmitting the filtered radar data, wherein the transmitting is responsive to: (i) a determination that a confidence metric, indicative of a confidence level of a 6-DOF position estimate of the vehicle, exceeds a confidence metric threshold level; (ii) a determination that a reliance metric, indicative of a reliance level of the 6-DOF position estimate of the vehicle on the radar data, exceeds a reliance metric threshold level; or a combination thereof.
- Claim: 43. The computer-readable medium of claim 42, wherein the instructions further comprise code for, prior to obtaining the radar data: sending a notification from the vehicle to a server, wherein the notification comprises an indication of: a location of the vehicle, and a capability of the vehicle for obtaining the radar data; and subsequent to sending the notification, receiving the radar layer of the map at the vehicle from the server.
- Claim: 44. The computer-readable medium of claim 42, wherein the code for filtering the radar data comprises code for filtering a batch of radar data comprising plurality of frames of the radar data.
- Current International Class: 01; 01; 06
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