公开(公告)号：US20190179317A1

公开(公告)日：2019-06-13

申请号：US16176509

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

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

IPC: G05D1/00 ,  G01S7/40 ,  G01S13/93 ,  G01S17/89 ,  G01S17/93 ,  G01S7/497

Abstract: A non-transitory computer-readable medium stores instructions executable by one or more processors to implement a sensor control architecture for controlling at least a first sensor of a vehicle. The sensor control architecture is configured to receive 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. The sensor control architecture is also configured to determine, based on the received sensor data and using an attention model that is trained using a machine learning technique, one or more sensor settings, and to cause one or more sensor parameters of the first sensor to be adjusted in accordance with the determined sensor settings. The one or more sensor parameters include at least one sensor parameter that defines an area of focus for the first sensor.

公开(公告)号：US20190179024A1

公开(公告)日：2019-06-13

申请号：US16176582

申请日：2018-10-31

Applicant: LUMINAR TECHNOLOGIES, INC.

Inventor： Benjamin Englard ,  Eric C. Danziger

IPC: G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  G06T15/08 ,  G06K9/62 ,  G06K9/00

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：US20190107607A1

公开(公告)日：2019-04-11

申请号：US16155337

申请日：2018-10-09

Applicant: Luminar Technologies, Inc.

Inventor： Eric C. Danziger

IPC: G01S7/481 ,  G01S17/08 ,  G01S17/93 ,  G01S7/48 ,  G01S7/486

Abstract: In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light along an interlaced scan pattern. The scanner includes a first scanning mirror configured to scan the portion of the emitted pulses of light substantially parallel to a first scan axis to produce multiple scan lines of the interlaced scan pattern, where each scan line is oriented substantially parallel to the first scan axis. The scanner also includes a second scanning mirror configured to distribute the scan lines along a second scan axis that is substantially orthogonal to the first scan axis, where the scan lines are distributed in an interlaced manner.