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公开(公告)号：US12164031B2
公开(公告)日：2024-12-10
申请号：US17246187
申请日：2021-04-30
Applicant: Waymo LLC
Inventor： Kanika Sachdev , Pierre-Yves Droz , Caner Onal
Abstract: An example method and system for filtering point cloud data includes obtaining point cloud data from a LIDAR device. The point cloud data may include at least a first pulse-length range and a second pulse-length range. The first range may include one or more first-length pulses and the second range may include one or more second-length pulses. The method may further include filtering the point cloud data by determining respective magnitudes of each of the one or more first-length pulses and each of the one or more second-length pulses, comparing the magnitudes of the first-length pulses to a first threshold, comparing the magnitudes of the second-length pulses to a second threshold, and removing any pulses having a magnitude less than the respective thresholds. The method may further include determining, based on the filtered point cloud data, objects in an environment around the LIDAR.
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公开(公告)号：US20220350025A1
公开(公告)日：2022-11-03
申请号：US17246187
申请日：2021-04-30
Applicant: Waymo LLC
Inventor： Kanika Sachdev , Pierre-Yves Droz , Caner Onal
Abstract: An example method and system for filtering point cloud data includes obtaining point cloud data from a LIDAR device. The point cloud data may include at least a first pulse-length range and a second pulse-length range. The first range may include one or more first-length pulses and the second range may include one or more second-length pulses. The method may further include filtering the point cloud data by determining respective magnitudes of each of the one or more first-length pulses and each of the one or more second-length pulses, comparing the magnitudes of the first-length pulses to a first threshold, comparing the magnitudes of the second-length pulses to a second threshold, and removing any pulses having a magnitude less than the respective thresholds. The method may further include determining, based on the filtered point cloud data, objects in an environment around the LIDAR.
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3.发明公开公开(公告)号：US20240219538A1
公开(公告)日：2024-07-04
申请号：US18148619
申请日：2022-12-30
Applicant: Waymo LLC
Inventor： Lucas Peeters , Chase Salsbury , Kanika Sachdev , Luke Wachter , Tadeusz Pudlik , Caner Onal , Logan Su
CPC classification number: G01S7/497 , B08B1/005 , B08B3/02 , B08B5/02 , B08B7/04 , B08B13/00 , G01S2007/4977
Abstract: Example embodiments relate to using cleaning protocols to monitor defects associated with light detection and ranging (lidar) devices. An example embodiment includes a method. The method includes applying, using a cleaning device, a cleaning protocol to one or more optical components of a light detection and ranging (lidar) device. The method also includes emitting, from a light emitter of the lidar device, one or more light signals. Additionally, the method includes detecting, by a light detector of the lidar device, reflections of the one or more light signals. Further, the method includes determining, by a controller of the lidar device based on the detected reflections of the one or more light signals, that one or more defects are present within the one or more optical components or within the cleaning device.
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4.发明公开公开(公告)号：US20240201391A1
公开(公告)日：2024-06-20
申请号：US18068503
申请日：2022-12-19
Applicant: Waymo LLC
Inventor： Jingyuan Linda Zhang , Kanika Sachdev , Caner Onal , Michael Marx , Yuchi Wang
CPC classification number: G01S17/95 , G01S7/4873 , G01S17/42
Abstract: Example embodiments relate to differential methods for determining environment estimation, lidar impairment detection, and filtering. An example embodiment includes dividing a plurality of lidar device channels into a first group and a second group and interleaving the channels. The embodiment includes applying a threshold to the first group. The embodiment further includes emitting light pulses from a lidar device into an environment surrounding the lidar device, and detecting return light pulses. The return light pulses in the first group of channels are sampled from the signals that exceed the threshold. The embodiment may further include determining a differential in a statistical distribution between the return light pulses in the first group and the return light pulses in the second group. Based on the differential, the method can include detecting an atmospheric scattering medium in the environment surrounding the lidar device.
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