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Wide-view LIDAR with areas of special attention

  • US 9,383,753 B1
  • Filed: 09/26/2012
  • Issued: 07/05/2016
  • Est. Priority Date: 09/26/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • scanning a light detection and ranging (LIDAR) device through a first range of orientations directed to a first region of a scanning zone while emitting light pulses from the LIDAR device at a first pulse rate;

    scanning the LIDAR device through a second range of orientations directed to a second region of the scanning zone while emitting light pulses from the LIDAR device at a second pulse rate that is different from the first pulse rate;

    receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device;

    determining a three-dimensional (3-D) point map of the scanning zone 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 angular resolution of the 3-D point map, with respect to the LIDAR device, is based on the first pulse rate in the first region and is based on the second pulse rate in the second region;

    adjusting the pulse rate of the LIDAR device throughout the scanning zone according to real-time analysis of the returning light pulses such that the angular resolution of a given region of the 3-D point map is based, at least in part, on an indication of a spatial or temporal frequency of the 3-D point map in the given region, such that a first region of the scanning zone that includes features organized with a higher spatial or temporal frequency than a second region is scanned with a greater angular resolution than the second region;

    analyzing the 3-D point map to identify obstacles in the scanning zone interfering with a current path of an autonomous vehicle associated with the LIDAR device;

    determining a modified path of the autonomous vehicle that avoids the identified obstacles than the current path; and

    causing the autonomous vehicle to navigate along the modified path.

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