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公开(公告)号：US12270904B2
公开(公告)日：2025-04-08
申请号：US17186448
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Ming Zou
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.
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公开(公告)号：US20210109523A1
公开(公告)日：2021-04-15
申请号：US16598060
申请日：2019-10-10
Applicant: Waymo LLC
Inventor： Ming Zou , Christian Lauterbach , Peter Morton
Abstract: The technology relates to operation of a vehicle in a self-driving mode by determining the presence of occlusions in the environment around the vehicle. Raw sensor data for one or more sensors is received and a range image for each sensor based is computed based on the received data. The range image data may be corrected in view of obtained perception information from other sensors, heuristic analysis and/or a learning-based approach to fill gaps in the data or to filter out noise. The corrected data may be compressed prior to packaging into a format for consumption by onboard and offboard systems. These systems can obtain and evaluate the corrected data for use in real time and non-real time situations, such as performing driving operations, planning an upcoming route, testing driving scenarios, etc.
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公开(公告)号：US11933920B2
公开(公告)日：2024-03-19
申请号：US17437115
申请日：2020-03-13
Applicant: WAYMO LLC
Inventor： Gil Shotan , Luke Wachter , Colin Braley , Christian Lauterbach , Xiaoxiang Hu , Ming Zou
IPC: G01C3/08 , G01S7/481 , G01S7/497 , G01S17/931
CPC classification number: G01S7/497 , G01S7/4813 , G01S7/4814 , G01S17/931 , G01S2007/4977
Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.
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公开(公告)号：US20210270967A1
公开(公告)日：2021-09-02
申请号：US17186448
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Ming Zou
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.
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