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    Cross-talk mitigation using wavelength switching
    113.
    发明授权
    Cross-talk mitigation using wavelength switching 有权

    公开(公告)号：US10663564B2

    公开(公告)日：2020-05-26

    申请号：US15983545

    申请日：2018-05-18

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Joseph G. LaChapelle

    IPC: G01S7/48 ,  G01S7/484 ,  G01S7/481 ,  G05D1/00 ,  G01S7/4865 ,  G05D1/02 ,  G01S17/931

    Abstract: A lidar system includes a lighting module configured to (i) select a wavelength from among a plurality of wavelength values, for a particular time period, and (ii) emit light at the selected wavelength. The lighting module emits light at different wavelengths during at least two adjacent periods of time. The lidar system further includes a scanner configured to direct the pulse of light to illuminate a respective region within a field of regard of the lidar system and a receiver module configured to (i) receive a light signal and (ii) determine whether the received light signal includes the light emitted by the lighting module and scattered by a remote target, based at least in part on the wavelength selected by the lighting module.

    Camera-gated lidar system
    114.
    发明授权
    Camera-gated lidar system 有权

    公开(公告)号：US10591601B2

    公开(公告)日：2020-03-17

    申请号：US16031815

    申请日：2018-07-10

    Applicant: Luminar Technologies, Inc.

    Inventor： Richmond Hicks ,  Matthew D. Weed ,  Jason M. Eichenholz

    IPC: G01S17/18 ,  H04N5/232 ,  G02B26/10 ,  G01S7/481 ,  G01S17/89

    Abstract: A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine whether a solid object is present at the location based on the one or more images.

    AUTOMATICALLY GENERATING TRAINING DATA FOR A LIDAR USING SIMULATED VEHICLES IN VIRTUAL SPACE
    115.
    发明申请
    AUTOMATICALLY GENERATING TRAINING DATA FOR A LIDAR USING SIMULATED VEHICLES IN VIRTUAL SPACE 审中-公开

    公开(公告)号：US20200074230A1

    公开(公告)日：2020-03-05

    申请号：US16560046

    申请日：2019-09-04

    Applicant: Luminar Technologies, Inc.

    Inventor： Benjamin Englard ,  Miguel Alexander Peake

    IPC: G06K9/62

    Abstract: Automated training dataset generators that generate feature training datasets for use in real-world autonomous driving applications based on virtual environments are disclosed herein. The feature training datasets may be associated with training a machine learning model to control real-world autonomous vehicles. In some embodiments, an occupancy grid generator is used to generate an occupancy grid indicative of an environment of an autonomous vehicle from an imaging scene that depicts the environment. The occupancy grid is used to control the vehicle as the vehicle moves through the environment. In further embodiments, a sensor parameter optimizer may determine parameter settings for use by real-world sensors in autonomous driving applications. The sensor parameter optimizer may determine, based on operation of the autonomous vehicle, an optimal parameter setting of the parameter setting where the optimal parameter setting may be applied to a real-world sensor associated with real-world autonomous driving applications.

    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES
    116.
    发明申请
    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES 审中-公开

    公开(公告)号：US20200041647A1

    公开(公告)日：2020-02-06

    申请号：US16196618

    申请日：2018-11-20

    Applicant: Luminar Technologies, Inc.

    Inventor： Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/58 ,  G01S17/06 ,  G06N20/00 ,  G01S17/93

    Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle. The one or more sensors are configured to sense an environment through which the vehicle is moving by following a scan pattern comprising component scan lines. The method also includes obtaining, based on the sensor data and by one or more processors, two or more point cloud frames representative of the environment and tracking, by the one or more processors, a point cloud object across the two or more point cloud frames. Additionally, the method includes determining, based on the tracking and by the one or more processors, a relative velocity of the point cloud object and correcting, by the one or more processors, the point cloud object based on the relative velocity of the point cloud object.

    FITTING POINTS TO A SURFACE
    117.
    发明申请
    FITTING POINTS TO A SURFACE 审中-公开

    公开(公告)号：US20200041619A1

    公开(公告)日：2020-02-06

    申请号：US16196650

    申请日：2018-11-20

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Pranav Maheshwari ,  Tomi P. Maila ,  Benjamin Englard

    IPC: G01S7/481 ,  G06T7/521 ,  G01S17/93 ,  G01S17/89 ,  G01S17/08 ,  G01S7/48 ,  G01S7/497 ,  H04N5/232

    Abstract: A computer-implemented method of determining a relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle configured to sense an environment following a scan pattern. The method also includes obtaining, based on the sensor data, a point cloud frame. The point cloud frame comprises a plurality of points of depth data and a time at which the depth data was captured. Additionally, the method includes selecting two or more points of the scan pattern that overlap the object. The selected points are located on or near a two-dimensional surface corresponding to the object, and the depth data for two or more of the selected points are captured at different times. The method includes calculating the relative velocity between the vehicle and the object based on the depth data and capture times associated with the selected points.

    Sensor system augmented with thermal sensor object confirmation
    118.
    发明授权
    Sensor system augmented with thermal sensor object confirmation 有权

    公开(公告)号：US10445599B1

    公开(公告)日：2019-10-15

    申请号：US16007430

    申请日：2018-06-13

    Applicant: Luminar Technologies, Inc.

    Inventor： Richmond Hicks

    IPC: G06K9/00 ,  H04N5/33 ,  G06T7/70 ,  G06K9/62 ,  G06T7/20 ,  G05D1/02 ,  G06T7/50

    Abstract: A thermal imager is used to confirm object classifications as described. In one example, a scene modeling system has a sensor system to generate an image of a scene. A thermal camera generates a thermal image of the scene within a field of regard, and a modeling processor coupled to the sensor system and to the thermal camera correlates a position of a selected object in the scene to the field of regard of the thermal camera and queries the thermal camera to confirm a classification of the selected object. The thermal camera is configured to receive the position of the selected object and to confirm the classification.

    Lidar receiver with multiple detectors for range-ambiguity mitigation
    119.
    发明授权
    Lidar receiver with multiple detectors for range-ambiguity mitigation 有权

    公开(公告)号：US10401480B1

    公开(公告)日：2019-09-03

    申请号：US16210704

    申请日：2018-12-05

    Applicant: Luminar Technologies, Inc.

    Inventor： Stephen D. Gaalema ,  Mark A. Drummer ,  Stephen L. Mielke ,  Jason M. Eichenholz

    IPC: G01S7/48 ,  G01S7/481

    Abstract: In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical signal that is scattered by a target located a distance from the lidar system. The received optical signal is detected after the second optical signal is emitted. The receiver includes a first detector configured to detect a first portion of the received optical signal and a second detector configured to detect a second portion of the received optical signal.

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