×

METHOD AND APPARATUS FOR INTENSITY CALIBRATION OF MULTI-BEAM LIDAR SENSORS

  • US 20140152971A1
  • Filed: 12/05/2012
  • Published: 06/05/2014
  • Est. Priority Date: 12/05/2012
  • Status: Active Grant
First Claim
Patent Images

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.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×