Wide-View LIDAR With Areas of Special Attention
First Claim
1. A method comprising:
- scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device;
receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device;
determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device, wherein the initial point cloud data has an initial angular resolution;
identifying, based on the initial point cloud data, a reflective feature in the scanning zone;
locating at least one edge of the reflective feature;
based on the located at least one edge of the reflective feature, determining an enhancement region and an enhanced angular resolution for a subsequent scan, wherein the enhanced angular resolution is determined so as to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan, wherein the portion corresponds to the reflective feature.
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Accused Products
Abstract
A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.
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Citations
20 Claims
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1. A method comprising:
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scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device; receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device; determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device, wherein the initial point cloud data has an initial angular resolution; identifying, based on the initial point cloud data, a reflective feature in the scanning zone; locating at least one edge of the reflective feature; based on the located at least one edge of the reflective feature, determining an enhancement region and an enhanced angular resolution for a subsequent scan, wherein the enhanced angular resolution is determined so as to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan, wherein the portion corresponds to the reflective feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous vehicle system comprising:
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a light detection and ranging (LIDAR) device including; a light source configured to be scanned through a range of orientations directed to a scanning zone while emitting light pulses; and a light detector configured to receive returning light pulses reflected from features in the scanning zone, if any, each of the returning light pulses corresponding to an emitted light pulse; and a controller configured to; cause the LIDAR device to scan the scanning zone while emitting light pulses at a first pulse rate; receive information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses; determine, based on the time delays and orientations of the LIDAR device associated with each time delay, initial point cloud data having an initial angular resolution; identify, based on the initial point cloud data, a reflective feature in the scanning zone; locate at least one edge of the reflective feature; and based on the located at least one edge of the reflective feature, determine an enhancement region and an enhanced angular resolution for a subsequent scan, wherein the enhanced angular resolution is determined so as to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan, wherein the portion corresponds to the reflective feature. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification