Invention Grant
- Patent Title: Light detection and ranging (LIDAR) device range aliasing resilience by multiple hypotheses
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Application No.: US16989509Application Date: 2020-08-10
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Publication No.: US11774590B2Publication Date: 2023-10-03
- Inventor: Mark Alexander Shand
- Applicant: Waymo LLC
- Applicant Address: US CA Mountain View
- Assignee: Waymo LLC
- Current Assignee: Waymo LLC
- Current Assignee Address: US CA Mountain View
- Agency: McDonnell Boehnen Hulbert & Berghoff LLP
- Main IPC: G01S17/10
- IPC: G01S17/10 ; G01S7/483 ; G01S17/89 ; G01S7/4865 ; G01S17/42 ; G01S7/484 ; G01S17/931

Abstract:
A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.
Public/Granted literature
- US20200371235A1 Light Detection and Ranging (LIDAR) Device Range Aliasing Resilience by Multiple Hypotheses Public/Granted day:2020-11-26
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