Patent ID: 11972606
Assignee: UATC, LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 7:
8. One or more tangible, non-transitory, computer readable media that store instructions that are executable by one or more processors to cause an autonomous vehicle computing system to perform operations, the operations comprising:
obtaining, from a camera system of an autonomous vehicle, image data descriptive of a portion of a surrounding environment;
obtaining ground height data for the portion of the surrounding environment, wherein the ground height data was generated using a machine-learned model configured to process sensor data and output data indicative of ground height;
associating, using the ground height data, one or more portions of the image data with a lane of a travel way based on a transformation between a reference frame of the camera system and a reference frame of the ground height data; and
based on the association between the one or more portions of the image data and the lane, determining an object within the surrounding environment is within the lane.