Patent ID: 11915440
Assignee: VELODYNE LIDAR USA, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 20:
21. A vehicle-mounted system for generating structured map data, the vehicle-mounted system comprising:
at least one sensor disposed on a vehicle, the at least one sensor configured to generate time-stamped sensor data;
a plurality of cameras disposed on the vehicle and configured to generate video data comprising a respective plurality of video streams, wherein the video data are time-stamped based on a timing signal provided by a global positioning system (GPS); and
a sensor data processing system configured to perform operations including:
determining, based on the time-stamped sensor data, a plurality of spatial values each comprising a position of the vehicle and an associated time stamp, the plurality of spatial values including a particular spatial value indicating a particular position of the vehicle and a particular associated time stamp;
adjusting the particular spatial value indicating the particular position of the vehicle based on two or more parallax differences in two or more respective relative positions of a fixed feature depicted in a plurality of image records captured in the video data; and
producing a point cloud comprising a plurality of relative positions of the fixed feature based on a first plurality of image records comprising a respective plurality of images depicting the fixed feature, the respective plurality of images being captured in the video data.