×

Method for registration of range images from multiple LiDARS

  • US 9,329,269 B2
  • Filed: 02/26/2013
  • Issued: 05/03/2016
  • Est. Priority Date: 03/15/2012
  • Status: Active Grant
First Claim
Patent Images

1. A method for fusing sensor signals from at least two LiDAR sensors having over-lapping field-of-views so as to track objects detected by the sensors, said method comprising:

  • defining a transformation value for at least one of the LiDAR sensors that identifies an orientation angle and position of the sensor;

    providing target scan points from the objects detected by the sensors where the target scan points for each sensor provide a separate target point map;

    projecting the target point map from the at least one sensor to another one of the LiDAR sensors using a current transformation value to overlap the target scan points from the sensors;

    determining a plurality of weighting values using the current transformation value where each weighting value identifies a positional change of one of the scan points for the at least one sensor to a location of a scan point for the another one of the sensors, including using the equation;

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