Device and method for merging lidar data
First Claim
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1. A device comprising:
- a lidar imaging controller and a communication interface, the controller configured to;
receive, via the communication interface, point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative the region, the respective angular lidar scans occurring at a non-zero and non-perpendicular angle to a movement direction;
combine the point cloud data into a common point cloud data set;
bin points from the common point cloud data set into a plane perpendicular to the movement direction and extending from a virtual lidar position relative to the common point cloud data set;
while ignoring outlier points located behind closer points to the virtual lidar position, perform curve fitting on the closer points to smooth out noise from the closer points and produce curve fit points in the plane; and
combine the curve fit points with other curve points from other planes extending from other virtual lidar positions along the movement direction into a virtual lidar scan of the region along the movement direction.
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Abstract
A device and method for merging lidar data is provided. Point cloud data is combined, via a lidar imaging controller, into a common point cloud data set, each set of point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative to the region of a shelf. The respective angular lidar scans from each lidar device occur at a non-zero and non-perpendicular angle to a movement direction. Common point cloud data set points are binned into a plane perpendicular to the movement direction of a mobile automation apparatus and extending from a virtual lidar position. The lidar imaging controller combines points among multiple planes.
365 Citations
19 Claims
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1. A device comprising:
a lidar imaging controller and a communication interface, the controller configured to; receive, via the communication interface, point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative the region, the respective angular lidar scans occurring at a non-zero and non-perpendicular angle to a movement direction; combine the point cloud data into a common point cloud data set; bin points from the common point cloud data set into a plane perpendicular to the movement direction and extending from a virtual lidar position relative to the common point cloud data set; while ignoring outlier points located behind closer points to the virtual lidar position, perform curve fitting on the closer points to smooth out noise from the closer points and produce curve fit points in the plane; and combine the curve fit points with other curve points from other planes extending from other virtual lidar positions along the movement direction into a virtual lidar scan of the region along the movement direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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at a device comprising a lidar imaging controller and a communication interface, receiving, via the communication interface, point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative the region, the respective angular lidar scans occurring at a non-zero and non-perpendicular angle to a movement direction; combining, using the controller, the point cloud data into a common point cloud data set; binning, using the controller, points from the common point cloud data set into a plane perpendicular to the movement direction and extending from a virtual lidar position relative to the common point cloud data set; while ignoring outlier points located behind closer points to the virtual lidar position, performing, using the controller, curve fitting on the closer points to smooth out noise from the closer points and produce curve fit points in the plane; and combining, using the controller, the curve fit points with other curve points from other planes extending from other virtual lidar positions along the movement direction into a virtual lidar scan of the region along the movement direction. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer-readable medium storing a computer program, wherein execution of the computer program is for:
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at a device comprising a lidar imaging controller and a communication interface, receiving, via the communication interface, point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative the region, the respective angular lidar scans occurring at a non-zero and non-perpendicular angle to a movement direction; combining, using the controller, the point cloud data into a common point cloud data set; binning, using the controller, points from the common point cloud data set into a plane perpendicular to the movement direction and extending from a virtual lidar position relative to the common point cloud data set; while ignoring outlier points located behind closer points to the virtual lidar position, performing, using the controller, curve fitting on the closer points to smooth out noise from the closer points and produce curve fit points in the plane; and combining, using the controller, the curve fit points with other curve points from other planes extending from other virtual lidar positions along the movement direction into a virtual lidar scan of the region along the movement direction.
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Specification