公开(公告)号：US20200043146A1

公开(公告)日：2020-02-06

申请号：US16196632

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Austin K. Russell ,  Eric C. Danziger

IPC: G06T5/00 ,  G06K9/62 ,  G06T3/60 ,  G06T7/20 ,  G06K9/00

Abstract: A computer-implemented method of detecting object distortion. 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. The method also includes obtaining, based on the sensor data, a point cloud frame representative of the environment and identifying a point cloud object within the point cloud frame. Additionally, the method includes analyzing the point cloud object to identify a feature of the point cloud object that has an expected shape and comparing the feature of the point cloud object to the expected shape. The method also includes identifying that the point cloud object is distorted based on the feature of the point cloud object not matching the expected shape.

公开(公告)号：US20200041648A1

公开(公告)日：2020-02-06

申请号：US16196597

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Eric C. Danziger ,  Austin K. Russell ,  Benjamin Englard

IPC: G01S17/89 ,  G01S17/58 ,  B60W30/095 ,  G06T7/73 ,  G06T7/246 ,  G06K9/00 ,  G06N20/00

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 includes obtaining, by one or more processors, a point cloud frame based on the sensor data and representative of the environment and identifying, by the one or more processors, a point cloud object within the point cloud frame. The method further includes determining, by the one or more processors, that the point cloud object is skewed relative to an expected configuration of the point cloud object, and determining, by the one or more processors, a relative velocity of the point cloud object by analyzing the skew of the object.

公开(公告)号：US10539665B1

公开(公告)日：2020-01-21

申请号：US16196618

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Eric C. Danziger ,  Austin K. Russell

IPC: G01S17/00 ,  G01S7/497 ,  G01S7/481 ,  G01S17/02 ,  G01S17/06 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G01S17/93 ,  G05D1/02 ,  G06N20/00 ,  G01S17/58

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.

公开(公告)号：US10509127B2

公开(公告)日：2019-12-17

申请号：US16176607

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Joseph Augenbraun ,  Austin K. Russell

IPC: G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/93 ,  G06K9/62 ,  G01S17/93 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02 ,  G06T7/50 ,  G06K9/42 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

公开(公告)号：US10451739B1

公开(公告)日：2019-10-22

申请号：US16196618

申请日：2018-11-20

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Eric C. Danziger ,  Austin K. Russell

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

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.

公开(公告)号：US20190180502A1

公开(公告)日：2019-06-13

申请号：US16176567

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

IPC: G06T17/20 ,  G06T17/05 ,  G06T3/40 ,  G01S17/89 ,  G01S17/93

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense an environment through which a vehicle is moving. The point cloud frame includes scan lines arranged according to a particular spatial distribution. The method also includes either generating an enhanced point cloud frame with a larger number of points than the received point cloud frame, or constructing, by one or more processors and based on points of the received point cloud frame, a three-dimensional mesh. The method also includes generating, by performing an interpolation function on the enhanced point cloud frame or a virtual surface provided by the three-dimensional mesh, a normalized point cloud frame, and generating, using the normalized point cloud frame, signals descriptive of a current state of the environment through which the vehicle is moving.

公开(公告)号：US20190179027A1

公开(公告)日：2019-06-13

申请号：US16176649

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  G06T7/50 ,  G06K9/42 ,  G06N3/08

CPC classification number: G01S17/89 ,  B60W10/04 ,  B60W30/18145 ,  B60W30/18163 ,  B60W50/06 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/12 ,  B60W2550/13 ,  B60W2550/142 ,  B60W2550/20 ,  B60W2550/22 ,  B60W2720/106 ,  B60W2720/12 ,  B60W2720/125 ,  G01S7/40 ,  G01S7/4026 ,  G01S7/417 ,  G01S7/4808 ,  G01S7/4817 ,  G01S7/4972 ,  G01S13/42 ,  G01S13/931 ,  G01S17/023 ,  G01S17/66 ,  G01S17/936 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2013/9367 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0221 ,  G05D1/0231 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00832 ,  G06K9/42 ,  G06K9/6256 ,  G06K9/6261 ,  G06K9/6267 ,  G06N3/08 ,  G06T3/4007 ,  G06T7/20 ,  G06T7/50 ,  G06T15/08 ,  G06T17/05 ,  G06T17/20 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter value. The method also includes generating a normalized point cloud frame by adding interpolated points not present in the received frame, at least by, for each interpolated point, identifying one or more neighboring points having associated two-dimensional coordinates that are within a threshold distance of two-dimensional coordinates for the interpolated point, and calculating an estimated parameter value of the interpolated point using, for each of the identified neighboring points, a distance between the two-dimensional coordinates and the parameter value associated with the identified neighboring point. The method also includes generating, using the normalized point cloud frame, signals descriptive of a current state of the vehicle environment.

公开(公告)号：US10768304B2

公开(公告)日：2020-09-08

申请号：US16176567

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

IPC: G06K9/00 ,  G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/931 ,  G06K9/62 ,  G01S17/86 ,  G01S17/931 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G06T7/50 ,  G06K9/42 ,  G01S17/66 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense an environment through which a vehicle is moving. The point cloud frame includes scan lines arranged according to a particular spatial distribution. The method also includes either generating an enhanced point cloud frame with a larger number of points than the received point cloud frame, or constructing, by one or more processors and based on points of the received point cloud frame, a three-dimensional mesh. The method also includes generating, by performing an interpolation function on the enhanced point cloud frame or a virtual surface provided by the three-dimensional mesh, a normalized point cloud frame, and generating, using the normalized point cloud frame, signals descriptive of a current state of the environment through which the vehicle is moving.

公开(公告)号：US10754037B2

公开(公告)日：2020-08-25

申请号：US16176582

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/931 ,  G06K9/62 ,  G01S17/86 ,  G01S17/931 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G06T7/50 ,  G06K9/42 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud portion corresponding to an object in a vehicle environment, the point cloud portion including scan lines arranged according to a particular spatial distribution. The method also includes constructing a voxel grid corresponding to the received point cloud portion. The voxel grid includes a plurality of volumes in a stacked, three-dimensional arrangement, and constructing the voxel grid includes (i) determining an initial classification of the object, (ii) setting one or more parameters of the voxel grid based on the initial classification, and (iii) associating each volume of the plurality of volumes with an attribute specifying how many points, from the point cloud portion, fall within that volume. The method also includes generating, using the constructed voxel grid, signals descriptive of a current state of the environment through which the vehicle is moving.

公开(公告)号：US10473788B2

公开(公告)日：2019-11-12

申请号：US16176624

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

IPC: G01C3/08 ,  G01S17/89 ,  G01S7/40 ,  G01S7/41 ,  G01S13/42 ,  G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W10/04 ,  G06N3/08 ,  G01S13/93 ,  G01S17/93 ,  G06T3/40 ,  G06T17/05 ,  G06T17/20 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02 ,  G06T7/50 ,  G06K9/42 ,  G06K9/62 ,  G01S17/66 ,  G06K9/00 ,  G06T15/08 ,  G01S7/497 ,  B60W50/06 ,  G06T7/20

Abstract: A method for controlling at least a first sensor of a vehicle, which senses an environment through which the vehicle is moving by producing a plurality of scan lines arranged according to a spatial distribution, includes receiving sensor data generated by one or more sensors. The one or more sensors are configured to sense the environment through which the vehicle is moving. The method also includes identifying, by one or more processors and based on the received sensor data, one or more areas of interest in the environment, and causing, by one or more processors and based on the areas of interest, the spatial distribution of the plurality of scan lines produced by the first sensor to be adjusted.