公开(公告)号：US20240134022A1

公开(公告)日：2024-04-25

申请号：US18047102

申请日：2022-10-17

Applicant: GM Global Technology Operations LLC

Inventor： Wei Zeng ,  Shuqing Zeng ,  Huabing Zhu ,  Jordan B. Chipka

IPC: G01S7/497 ,  G01S17/00 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S7/497 ,  G01S17/006 ,  G01S17/89 ,  G01S17/931 ,  G01S2007/4975

Abstract: A method of modeling precipitation effects in a virtual LiDAR sensor, the method includes receiving a point cloud model representing three-dimensional coordinates of objects as the objects would be sensed by a LiDAR sensor. The method further includes generating a stochastic model of rainfall or snowfall, estimating a probability that a light source from the LiDAR sensor hits a raindrop or a snowflake based on the stochastic model, and modifying the received point cloud model to include effects induced by the modeled rainfall or snowfall based on the probability that light sourced from the LiDAR sensor encounters a raindrop or a snowflake.

公开(公告)号：US11940537B2

公开(公告)日：2024-03-26

申请号：US17545194

申请日：2021-12-08

Applicant: GM Global Technology Operations LLC

Inventor： Wei Zeng ,  Huabing Zhu ,  Shuqing Zeng ,  Jordan B. Chipka

IPC: G01S17/89 ,  G01B11/22 ,  G01S17/931 ,  G06T7/11 ,  G06T7/521 ,  G06T7/55 ,  H04N23/90

CPC classification number: G01S17/89 ,  G01B11/22 ,  G01S17/931 ,  G06T7/11 ,  G06T7/521 ,  G06T7/55 ,  H04N23/90 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: A virtual LiDAR sensor system fora motor vehicle includes a plurality of camera modules and algorithms that generate a depth image, a RGB image, and a segmentation information image. The system is implemented with an algorithm that associates the backscattered signals with information from a color-reflectivity table, incident angle determination and depth information.

公开(公告)号：US20230176218A1

公开(公告)日：2023-06-08

申请号：US17545194

申请日：2021-12-08

Applicant: GM Global Technology Operations LLC

Inventor： Wei Zeng ,  Huabing Zhu ,  Shuqing Zeng ,  Jordan B. Chipka

IPC: G01S17/89 ,  G01S17/931 ,  G01B11/22 ,  G06T7/521 ,  G06T7/11 ,  G06T7/55 ,  H04N5/247

CPC classification number: G01S17/89 ,  G01S17/931 ,  G01B11/22 ,  G06T7/521 ,  G06T7/11 ,  G06T7/55 ,  H04N5/247 ,  G06T2207/10028 ,  G06T2207/10024 ,  G06T2207/30252

Abstract: A virtual LiDAR sensor system fora motor vehicle includes a plurality of camera modules and algorithms that generate a depth image, a RGB image, and a segmentation information image. The system is implemented with an algorithm that associates the backscattered signals with information from a color-reflectivity table, incident angle determination and depth information.