Patents by Inventor Fangning He
Fangning He has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11867819Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.Type: GrantFiled: June 10, 2021Date of Patent: January 9, 2024Assignee: HERE Global B.V.Inventors: David Doria, Charles Morcom, Engin Burak Anil, Fangning He, Matthew Emery Goss
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Patent number: 11782129Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.Type: GrantFiled: August 23, 2021Date of Patent: October 10, 2023Assignee: HERE Global B.V.Inventors: Fangning He, David Doria, Xin Chen
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Patent number: 11423677Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: GrantFiled: October 23, 2020Date of Patent: August 23, 2022Assignee: HERE Global B.V.Inventors: Nezih Ergin Ozkucur, Fangning He, David Doria, Engin Burak Anil
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Publication number: 20210382144Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.Type: ApplicationFiled: August 23, 2021Publication date: December 9, 2021Inventors: Fangning He, David Doria, Xin Chen
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Publication number: 20210303884Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.Type: ApplicationFiled: June 10, 2021Publication date: September 30, 2021Inventors: David Doria, Charles Morcom, Engin Burak Anil, Fangning He, Matthew Emery Goss
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Patent number: 11119192Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.Type: GrantFiled: December 7, 2018Date of Patent: September 14, 2021Assignee: HERE Global B.V.Inventors: Fangning He, David Doria, Xin Chen
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Patent number: 11055546Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.Type: GrantFiled: December 18, 2018Date of Patent: July 6, 2021Assignee: HERE Global B.V.Inventors: David Doria, Charles Morcom, Engin Burak Anil, Fangning He, Matthew Emery Goss
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Publication number: 20210042500Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: ApplicationFiled: October 23, 2020Publication date: February 11, 2021Inventors: Nezih Ergin Ozkucur, Fangning He, David Doria, Engin Burak Anil
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Patent number: 10846511Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: GrantFiled: December 20, 2018Date of Patent: November 24, 2020Assignee: HERE Global B.V.Inventors: Nezih Ergin Ozkucur, Fangning He, David Doria, Engin Burak Anil
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Patent number: 10809073Abstract: Embodiments include apparatus and methods for automatic generation of local window-based 2D occupancy grids that represent roadside objects at a region of a roadway and automatic localization based on the 2D occupancy grids. 2D occupancy grids are generated based on an altitude threshold for point cloud data and grid cell occupancy for grid cells of local windows associated with the region of the roadway. The 2D occupancy grids are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed 2D occupancy grids and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: GrantFiled: December 5, 2018Date of Patent: October 20, 2020Assignee: HERE Global B.V.Inventors: Fangning He, David Doria, Xin Chen, Charles Morcom
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Publication number: 20200202107Abstract: Embodiments include apparatus and methods for automatic detection of pole-like objects for a location at a region of a roadway and automatic localization based on the detected pole-like objects. Pole-like objects are modeled as cylinders and the models are generated based on detected vertical clusters of point cloud data associated to corresponding regions along the region of the roadway. The modeled pole-like objects are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The pole-like object model is accessed and compared to the received sensor data. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: ApplicationFiled: December 20, 2018Publication date: June 25, 2020Inventors: Nezih Ergin Ozkucur, Fangning He, David Doria, Engin Burak Anil
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Publication number: 20200193158Abstract: A system and method to estimate traits of plants from RBG cameras on board an unmanned aerial vehicle (UAV). The position and orientation of the imagery together with the coordinates of sparse points along the area of interest are derived through a triangulation method. A rectified orthophoto mosaic is then generated from the imagery. The number of leaves is estimated and a model-based method is used to analyze the leaf morphology for leaf segmentation.Type: ApplicationFiled: August 14, 2018Publication date: June 18, 2020Inventors: Edward John Delp, Ayman F. Habib, Fangning He, Christopher Boomsma, Javier Ribera, Yuhao Chen
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Publication number: 20200193195Abstract: An apparatus for sign detection includes a point cloud analysis module, an image analysis module, a frustum comparison module, and a sign detector. The point cloud analysis module is configured to receive point cloud data associated with a geographic region and classify at least one point neighborhood in the point cloud data as planar and a sign position candidate. The image analysis module is configured to receive image data associated with the geographic region and calculate a sighting frustum from the image data. The frustum comparison module is configured to perform a comparison of the sighting frustum to the sign position candidate having at least one point neighborhood classified as planar. The sign detector is configured to provide a location for the sign detection in response to the comparison of the sighting frustum to the sign position candidate.Type: ApplicationFiled: December 18, 2018Publication date: June 18, 2020Inventors: David Doria, Charles Morcom, Engin Burak Anil, Fangning He, Matthew Emery Goss
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Publication number: 20200182626Abstract: Embodiments include apparatus and methods for automatic generation of local window-based 2D occupancy grids that represent roadside objects at a region of a roadway and automatic localization based on the 2D occupancy grids. 2D occupancy grids are generated based on an altitude threshold for point cloud data and grid cell occupancy for grid cells of local windows associated with the region of the roadway. The 2D occupancy grids are stored in a database and associated with the region of the roadway. Sensor data from a user located at the region of the roadway is received. The accessed 2D occupancy grids and the received sensor data are compared. Based on the comparison, localization of the user located at the region of the roadway is performed.Type: ApplicationFiled: December 5, 2018Publication date: June 11, 2020Inventors: Fangning He, David Doria, Xin Chen, Charles Morcom
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Publication number: 20200182969Abstract: Methods, apparatuses, and systems are provided for detecting overhead obstructions along a path segment. One exemplary method includes receiving three-dimensional data collected by a depth sensing device traveling along a path segment, wherein the three-dimensional data comprises point cloud data positioned above a ground plane of the path segment. The method further includes identifying data points of the point cloud data positioned within a corridor positioned above the ground plane. The method further includes projecting the identified data points onto a plane. The method further includes detecting the overhead obstruction based on a concentration of point cloud data positioned within a plurality of cells of the plane. The method further includes storing the detected overhead obstruction above the path segment within a map database.Type: ApplicationFiled: December 7, 2018Publication date: June 11, 2020Inventors: Fangning He, David Doria, Xin Chen