METHOD AND APPARATUS FOR INTENSITY CALIBRATION OF MULTI-BEAM LIDAR SENSORS
First Claim
1. A method of multi-beam Lidar intensity measurement calibration comprising:
- determining, by a positioning device, position information of a moving platform within a global reference frame;
collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams;
segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point;
finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value;
estimating a probability density based on the subset of voxels; and
generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density.
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Abstract
A method of multi-beam Lidar intensity measurement calibration including determining, by a positioning device, position information of a moving platform within a global reference frame, collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams, segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point, finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value, estimating a probability density based on the subset of voxels, and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density.
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Citations
15 Claims
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1. A method of multi-beam Lidar intensity measurement calibration comprising:
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determining, by a positioning device, position information of a moving platform within a global reference frame; collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams; segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point; finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimating a probability density based on the subset of voxels; and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for multi-beam Lidar intensity measurement calibration comprising:
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a data acquisition unit which collects a plurality of data points, each data point including position information of a moving platform and intensity information from a plurality of beams; a processor configured to segment the plurality of data points into a plurality of voxels, based on the position information associated with each data point, find a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimate a probability density based on the subset of voxels; and generate a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A non-transitory computer-readable medium storing a program that, when executed by a processor, causes the processor to perform a method of multi-beam Lidar intensity measurement calibration comprising:
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determining, by a positioning device, position information of a moving platform within a global reference frame; collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams; segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point; finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimating a probability density based on the subset of voxels; and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density.
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14. A multi-beam Lidar intensity measurement calibration system comprising:
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a positioning device which determines position information of a moving platform; a plurality of beams; a data acquisition unit which collects a plurality of data points, each data point including the position information and intensity information from the plurality of beams; a processor configured to segment the plurality of data points into a plurality of voxels, based on the position information associated with each data point, find a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimate a probability density based on the subset of voxels; and generate a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density. - View Dependent Claims (15)
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Specification