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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
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1 US10598791B2
Object detection based on Lidar intensity
Publication/Patent Number: US10598791B2 Publication Date: 2020-03-24 Application Number: 16/166,950 Filing Date: 2018-10-22 Inventor: Jain, Shantanu   Yang, Gehua   Assignee: UATC, LLC   IPC: G01S17/93 Abstract: Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values, A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value. Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values, A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed ...More ...Less
2 US10598768B2
Multipath mitigation for time of flight system
Publication/Patent Number: US10598768B2 Publication Date: 2020-03-24 Application Number: 15/604,504 Filing Date: 2017-05-24 Inventor: Ortiz, Egea Sergio   Assignee: Microsoft Technology Licensing, LLC   IPC: G01S7/48 Abstract: A time-of-flight (ToF) system disclosed herein provides a method of separating a direct component of light collected by a time of flight (ToF) detector from a global component of light collected by the ToF detector by acquiring a first image represented by a first matrix in response to illuminating a target with a light source using a first spatial pattern, acquiring a second image represented by a second matrix in response to illuminating the target with the light source using a second spatial pattern, the second spatial pattern being different than the first spatial pattern, and determining one or more parameters of the direct component of light and the global component of light based on analysis of the first matrix and the second matrix. A time-of-flight (ToF) system disclosed herein provides a method of separating a direct component of light collected by a time of flight (ToF) detector from a global component of light collected by the ToF detector by acquiring a first image represented by a first matrix in ...More ...Less
3 US10534074B2
Hybrid scanning lidar systems
Publication/Patent Number: US10534074B2 Publication Date: 2020-01-14 Application Number: 15/253,687 Filing Date: 2016-08-31 Inventor: Slobodyanyuk, Volodimir   Grob, Matthew   Wyrwas, John   Arabi, Karim   Pankaj, Rajesh   Gousev, Evgeni   Balraj, Sajith   Assignee: QUALCOMM Incorporated   IPC: G01S7/48 Abstract: Disclosed herein are techniques for light beam scanning in a light detection and ranging (LIDAR) system. The LIDAR system includes a beam shaping subsystem configured to generate an illumination pattern elongated in a first direction, and a scanning subsystem configured to direct the elongated illumination pattern towards a plurality of positions along a second direction different from the first direction. The LIDAR system further includes a sensor configured to generate a detection signal in response to detecting light reflected by a target object illuminated by the elongated illumination pattern, and a processor configured to determine a characteristic of the target object based on the detection signal. Disclosed herein are techniques for light beam scanning in a light detection and ranging (LIDAR) system. The LIDAR system includes a beam shaping subsystem configured to generate an illumination pattern elongated in a first direction, and a scanning subsystem configured to ...More ...Less
4 US10557921B2
Active brightness-based strategy for invalidating pixels in time-of-flight depth-sensing
Publication/Patent Number: US10557921B2 Publication Date: 2020-02-11 Application Number: 15/412,485 Filing Date: 2017-01-23 Inventor: Bleyer, Michael   Price, Raymond Kirk   Zhao, Jian   Demandolx, Denis Claude Pierre   Assignee: Microsoft Technology Licensing, LLC   IPC: G01C3/08 Abstract: A computer-implemented technique is described herein for invalidating pixels in a time-of-flight depth-sensing device based on active brightness (AB) measurements. In one implementation, the technique involves, for each sensing element of a sensor: generating frequency-specific sensor readings in response to receiving instances of radiation having plural frequencies (e.g., frequencies f1, f2, and f3); generating a set of active brightness measurements (ABf1, ABf2, and ABf3) associated with the respective frequencies; generating a variation measure that reflects an extent of variation within the set of active brightness measurements; and invalidating a pixel associated with the particular sensing element if the variation measure satisfies a prescribed invalidation condition. A computer-implemented technique is described herein for invalidating pixels in a time-of-flight depth-sensing device based on active brightness (AB) measurements. In one implementation, the technique involves, for each sensing element of a sensor: generating frequency-specific ...More ...Less
5 US10640209B2
Flying sensor
Publication/Patent Number: US10640209B2 Publication Date: 2020-05-05 Application Number: 15/727,629 Filing Date: 2017-10-08 Inventor: Böckem, Burkhard   Dold, Jürgen   Mark, Simon   Assignee: LEICA GEOSYSTEMS AG   IPC: B64C39/02 Abstract: A flying sensor comprising an unmanned aerial vehicle (UAV) and at least one profiler mounted on the UAV, the profiler comprising a base, a scanning unit for providing (LiDAR) data, the scanning unit mounted on the base and comprising a shaft carrying a deflector and being mounted in the scanning unit and rotatable, a transmitter transmitting a transmission beam, a first receiver configured for receiving a first reception beam reflected from the setting via the deflector, and an electric port configured for connecting the profiler to the UAV, and comprising a data interface and a power interface, and wherein the UAV comprises a visual sensor providing visual data, and comprising one or more cameras, a pose sensor for providing pose data, and a computer to compute a 3D point cloud based on the LiDar data and a Simultaneous Localisation and Mapping (SLAM) algorithm using the visual and pose data. A flying sensor comprising an unmanned aerial vehicle (UAV) and at least one profiler mounted on the UAV, the profiler comprising a base, a scanning unit for providing (LiDAR) data, the scanning unit mounted on the base and comprising a shaft carrying a deflector and being ...More ...Less
6 US10629072B2
LIDAR and vision vehicle sensing
Publication/Patent Number: US10629072B2 Publication Date: 2020-04-21 Application Number: 15/298,389 Filing Date: 2016-10-20 Inventor: Felix, Rodrigo   Assignee: FORD GLOBAL TECHNOLOGIES, LLC   IPC: B60W50/00 Abstract: A computer is programmed to identify a vehicle in an infrared image, determine a body type of the vehicle based on the infrared image, and predict coordinates of one or more vehicle elements based at least on the determined body type. The computer is further programmed to then perform a plurality of LIDAR sensor sweeps and, based on the LIDAR sensor sweeps, determine whether the vehicle elements are at the predicted coordinates. A computer is programmed to identify a vehicle in an infrared image, determine a body type of the vehicle based on the infrared image, and predict coordinates of one or more vehicle elements based at least on the determined body type. The computer is further programmed to then ...More ...Less
7 US10571570B1
Lidar system with range-ambiguity mitigation
Publication/Patent Number: US10571570B1 Publication Date: 2020-02-25 Application Number: 16/456,622 Filing Date: 2019-06-28 Inventor: Paulsen, David L.   Sentelle, Christopher Gary   Heylmun, Zachary   Hansen, Matthew   Assignee: Luminar Technologies, Inc.   IPC: G01C3/08 Abstract: In one embodiment, a method includes emitting, by a light source of a lidar system, multiple optical pulses using multiple alternating pulse repetition intervals (PRIs) that include a first PRI and a second PRI, where the first PRI and the second PRI are not equal. The method also includes detecting, by a receiver of the lidar system, multiple input optical pulses and generating, by a processor of the lidar system, multiple pixels. Each pixel of the multiple pixels corresponds to one of the input optical pulses, and each pixel includes a PRI associated with a most recently emitted optical pulse of the multiple optical pulses. The method also includes determining a group of neighboring pixels for a particular pixel of the multiple pixels and determining whether the particular pixel is range-wrapped based at least in part on the PRI associated with each pixel of the group of neighboring pixels. In one embodiment, a method includes emitting, by a light source of a lidar system, multiple optical pulses using multiple alternating pulse repetition intervals (PRIs) that include a first PRI and a second PRI, where the first PRI and the second PRI are not equal. The method ...More ...Less
8 EP3207496B1
DEPTH FROM TIME OF FLIGHT CAMERA
Publication/Patent Number: EP3207496B1 Publication Date: 2020-02-12 Application Number: 15784841.7 Filing Date: 2015-10-07 Inventor: Shotton, Jamie Daniel Joseph   Keskin, Cem   Rhemann, Christoph   Sharp, Toby   Robertson, Duncan Paul   Kohli, Pushmeet   Fitzgibbon, Andrew William   Izadi, Shahram   Assignee: Microsoft Technology Licensing, LLC   IPC: G06K9/00
9 EP3610284A1
DETERMINATION OF LOCALIZATION VIABILITY METRICS FOR LANDMARKS
Publication/Patent Number: EP3610284A1 Publication Date: 2020-02-19 Application Number: 18721894.6 Filing Date: 2018-04-04 Inventor: Holz, Dirk   Assignee: X Development LLC   IPC: G01S5/16
10 EP3191869B1
DISCRETIZATION OF DETECTION ZONE
Publication/Patent Number: EP3191869B1 Publication Date: 2020-03-25 Application Number: 15840398.0 Filing Date: 2015-09-08 Inventor: Hamel, Pier-olivier   Simard-bilodeau, Vincent   Poulin, Michael   Olivier, Pierre   Assignee: Leddartech Inc.   IPC: G01S7/48
11 US2020156532A1
LIGHTING APPARATUS OF AUTONOMOUS VEHICLE
Publication/Patent Number: US2020156532A1 Publication Date: 2020-05-21 Application Number: 16/235,552 Filing Date: 2018-12-28 Inventor: Lee, Eun Jeong   Baek, Seung Woo   Choi, Ban Suk   Shin, Cheon Seop   Cha, Jun Hyuk   Kim, Moo Kwan   Assignee: HYUNDAI MOBIS CO., LTD.   IPC: B60Q1/50 Abstract: A lighting apparatus of an autonomous vehicle may include: a roof formed at the top of a vehicle; a lighting unit installed on the roof, and configured to display an autonomous driving status of the vehicle to the outside; and a control unit configured to vary a lighting status of the lighting unit according to the autonomous driving status of the vehicle. A lighting apparatus of an autonomous vehicle may include: a roof formed at the top of a vehicle; a lighting unit installed on the roof, and configured to display an autonomous driving status of the vehicle to the outside; and a control unit configured to vary a lighting status ...More ...Less
12 US2020018825A1
ENVIRONMENT SENSING METHOD AND APPARATUS USING A WIDE-ANGLE DISTANCE SENSOR
Publication/Patent Number: US2020018825A1 Publication Date: 2020-01-16 Application Number: 16/505,535 Filing Date: 2019-07-08 Inventor: Dia, Roxana   Heitzmann, Frédéric   Lesecq, Suzanne   Mottin, Julien   Puschini, Pascual Diego   Rakotovao, Andriamahefa Tiana   Assignee: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES   IPC: G01S7/48 Abstract: An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided. An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest ...More ...Less
13 US2020081095A1
METHOD AND APPARATUS FOR GENERATING OBJECT DETECTION BOX, DEVICE, STORAGE MEDIUM, AND VEHICLE
Publication/Patent Number: US2020081095A1 Publication Date: 2020-03-12 Application Number: 16/562,090 Filing Date: 2019-09-05 Inventor: Lin, Jian   Assignee: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.   IPC: G01S7/48 Abstract: The present disclosure provides a method for generating an object detection box, comprises: obtaining a set of point-cloud data frames collected by a radar device within a set period; obtaining, from the set, a first point-cloud data frame corresponding to a first time when an unmanned vehicle is closest to a target object, and obtaining first detection box information corresponding to the target object in the first point-cloud data frame that is obtained through an automatic detection algorithm; determining whether the first detection box information is valid detection box information with respect to a second cloud-point data frame in the set that corresponds to a second time prior to the first time; and determining whether the first detection box information is to be used as final detection box information of the target object in the second point-cloud data frame according to the result of the determination. The present disclosure provides a method for generating an object detection box, comprises: obtaining a set of point-cloud data frames collected by a radar device within a set period; obtaining, from the set, a first point-cloud data frame corresponding to a first time when an ...More ...Less
14 US2020081096A1
GROUND DETECTION METHOD, ELECTRONIC DEVICE, AND VEHICLE
Publication/Patent Number: US2020081096A1 Publication Date: 2020-03-12 Application Number: 16/566,487 Filing Date: 2019-09-10 Inventor: Chen, Dongming   Wang, Hao   Wang, Liang   Assignee: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.   IPC: G01S7/48 Abstract: Embodiments of the present disclosure provide a ground detection method and apparatus, an electronic device, a vehicle, and a storage medium. The method includes: projecting a laser point cloud obtained to a high resolution mesh and a low resolution mesh respectively; filtering out candidate ground points in the high resolution mesh; and performing ground fitting based on the candidate ground points in the low resolution mesh. Embodiments of the present disclosure provide a ground detection method and apparatus, an electronic device, a vehicle, and a storage medium. The method includes: projecting a laser point cloud obtained to a high resolution mesh and a low resolution mesh respectively; filtering ...More ...Less