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    FILTERING RETURN POINTS IN A POINT CLOUD BASED ON RADIAL VELOCITY MEASUREMENT
    3.
    发明申请
    FILTERING RETURN POINTS IN A POINT CLOUD BASED ON RADIAL VELOCITY MEASUREMENT 有权

    公开(公告)号：US20220153297A1

    公开(公告)日：2022-05-19

    申请号：US16952930

    申请日：2020-11-19

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

    IPC: B60W60/00 ,  G06K9/00 ,  G01S13/931 ,  G01S13/50

    Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

    POINT CLOUD SEGMENTATION USING A COHERENT LIDAR FOR AUTONOMOUS VEHICLE APPLICATIONS
    4.
    发明申请
    POINT CLOUD SEGMENTATION USING A COHERENT LIDAR FOR AUTONOMOUS VEHICLE APPLICATIONS 有权

    公开(公告)号：US20220137227A1

    公开(公告)日：2022-05-05

    申请号：US17087464

    申请日：2020-11-02

    Applicant: Waymo LLC

    Inventor： Nicholas Armstrong-Crews ,  Mingcheng Chen ,  Xiaoxiang Hu

    IPC: G01S17/931 ,  G01S17/58 ,  G01S17/89 ,  B60W60/00 ,  B60W30/095 ,  B60W30/09

    Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.

    Self-reflection filtering
    5.
    发明授权
    Self-reflection filtering 有权

    公开(公告)号：US11977165B2

    公开(公告)日：2024-05-07

    申请号：US16989434

    申请日：2020-08-10

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Xiaoxiang Hu ,  Richard Chaussee

    IPC: G01S17/931 ,  G01S7/497 ,  G01S17/894 ,  G05D1/00

    CPC classification number: G01S17/931 ,  G01S17/894 ,  G05D1/0088 ,  G01S7/497

    Abstract: The technology relates to handling of self-reflections of sensor signals off of a portion of a vehicle that is operating in an autonomous driving mode. Vehicle pose information and sensor pose information are determined at a given point in time while operating in the autonomous driving mode. Return signals from one or more scans of the environment are received from onboard sensors such as lidar sensors. The system evaluates, based on the vehicle and sensor pose information, whether a segment between a given one of the one or more sensors and a received point from a selected one of the return signals crosses any surface of a 3D model of the vehicle. The received point is identified as a self-return point. In response to identifying the received point as a self-return point, the vehicle is able to perform a driving operation in the autonomous driving mode.

    FALSE POSITIVE OBJECT REMOVAL WITH SURFEL MAPS
    6.
    发明公开
    FALSE POSITIVE OBJECT REMOVAL WITH SURFEL MAPS 审中-公开

    公开(公告)号：US20230350064A1

    公开(公告)日：2023-11-02

    申请号：US17731131

    申请日：2022-04-27

    Applicant: Waymo LLC

    Inventor： Xiaoxiang Hu ,  Clayton Kunz ,  David Gallup ,  Grigory Dzhavadyan

    IPC: G01S17/89 ,  G06T7/521 ,  G01S7/48 ,  G01S17/18

    CPC classification number: G01S17/89 ,  G06T7/521 ,  G01S7/4802 ,  G01S17/18 ,  G06T2207/10028 ,  G06T2207/30252

    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.

    Filtering return points in a point cloud based on radial velocity measurement
    7.
    发明授权
    Filtering return points in a point cloud based on radial velocity measurement 有权

    公开(公告)号：US11702102B2

    公开(公告)日：2023-07-18

    申请号：US16952930

    申请日：2020-11-19

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

    IPC: B60W60/00 ,  G01S13/931 ,  G01S13/50 ,  G06V20/58

    CPC classification number: B60W60/0011 ,  G01S13/505 ,  G01S13/931 ,  G06V20/58 ,  B60W2420/52 ,  G01S2013/9321 ,  G01S2013/9327

    Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

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