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Object detection based on Lidar intensity

  • US 10,598,791 B2
  • Filed: 10/22/2018
  • Issued: 03/24/2020
  • Est. Priority Date: 07/31/2018
  • Status: Active Grant
First Claim
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1. An autonomous vehicle (AV) computing system comprising:

  • a reflectance inference system comprising one or more processors, the reflectance inference system to perform operations comprising;

    accessing an incoming data point output by a light detection and ranging (Lidar) unit during operation of the AV computing system;

    determining, using a reflectance inference model generated by a Lidar calibration system, an inferred reflectance value of an object based on the incoming data point, the reflectance inference model comprising a mapping of a set of previously collected data points to a coordinate system using range and raw intensity values of the previously collected data points as coordinates, the inferred reflectance value being interpolated from at least two previously collected data points of the set of previously collected data points mapped to the coordinate system, each of the two previously collected data points corresponding to one of multiple known reflectance values; and

    determining one or more characteristics of the object based on the inferred reflectance value; and

    a motion planning system comprising one or more processors, the motion planning system to determine a motion plan for an AV based on the one or more characteristics of the object, the motion plan being used to control motion of the AV.

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