Patent Document ID: 9315192
Application ID: 14041121
Patent Status: 1

Claim One:
1. A computer-implemented method comprising: receiving, at a computing device from at least one sensor coupled to a vehicle, range data corresponding to a plurality of objects in an environment of the vehicle, wherein the range data comprises a plurality of first data points configured in a three-dimensional point cloud; responsive to receiving the range data, generating a spherical data set comprising a plurality of second data points, wherein spherical coordinates for each second data point are generated based on a corresponding one of the first plurality of data points; and determining, by the computing device associated with the vehicle, a two-dimensional map based on the spherical data set comprising the plurality of second data points, wherein the two-dimensional map comprises a plurality of pixels, wherein each pixel of the plurality of pixels is indicative of a plurality of parameters including elevation information, intensity information, and distances from the vehicle corresponding to the plurality of objects in the environment.