Patent ID: 11915427
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 10:
11. A method of controlling operation of an autonomous vehicle, the method comprising:
receiving lidar data from a lidar sensor mounted on the autonomous vehicle, the lidar data comprising a plurality of points representative of positions of objects in a driving environment of the autonomous vehicle;
generating, based upon the lidar data, a first segmentation scene using a first segmentation algorithm, the first segmentation scene comprising a first plurality of regions, each of the first plurality of regions representative of a different object;
generating a second segmentation scene based upon the lidar data wherein the second segmentation scene is representative of a same portion of the driving environment as the first segmentation scene and comprises a second plurality of regions, wherein each of the second plurality of regions is representative of a different object;
generating a first score for the first segmentation scene based upon geometric features of the first plurality of regions, the first score for the first segmentation scene being generated based upon sub-scores of the first plurality of regions;
generating a second score for the second segmentation scene based upon geometric features of the second plurality of regions, the second score for the second segmentation scene being generated based up sub-scores of the second plurality of regions;
selecting one of the first segmentation scene or the second segmentation scene based upon the first score and the second score; and
controlling operation of the autonomous vehicle in the driving environment based upon the selected segmentation scene.