Identifying, in a light detection and ranging (LiDAR) scan line, a first LiDAR data point 1205 and a plurality of LiDAR data points within a vicinity of the first LiDAR data point 1210. Based on a comparison of the first LiDAR data point to at least one LiDAR data point of the plurality of LiDAR return points, identifying a coefficient of the first LiDAR data point, wherein the coefficient is related to image smoothness 1215. Based on a comparison of the coefficient to a threshold determining whether to include the first LiDAR data point in an updated LiDAR scan line 1220, and then identifying, based on the updated LiDAR scan line, a location of the autonomous vehicle 1225. The method preferably identifying the coefficient based on a comparison of vectors between the first data point and those of the plural points within the vicinity.
Light detection and ranging (LiDAR) scan smoothing
2022-05-11
Patent
Elektronische Ressource
Englisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
LiDAR LIGHT DETECTION AND RANGING LiDAR SCAN SMOOTHING
Europäisches Patentamt | 2022
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