SG10201907051SA - Object detection based on lidar intensity - Google Patents

Object detection based on lidar intensity

Info

Publication number
SG10201907051SA
SG10201907051SA SG10201907051SA SG10201907051SA SG10201907051SA SG 10201907051S A SG10201907051S A SG 10201907051SA SG 10201907051S A SG10201907051S A SG 10201907051SA SG 10201907051S A SG10201907051S A SG 10201907051SA SG 10201907051S A SG10201907051S A SG 10201907051SA
Authority
SG
Singapore
Prior art keywords
object detection
detection based
lidar intensity
lidar
intensity
Prior art date
Application number
SG10201907051SA
Inventor
Shantanu Jain
Gehua Yang
Original Assignee
Uber Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uber Technologies Inc filed Critical Uber Technologies Inc
Publication of SG10201907051SA publication Critical patent/SG10201907051SA/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N21/4738—Diffuse reflection, e.g. also for testing fluids, fibrous materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/12—Acquisition of 3D measurements of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Chemical & Material Sciences (AREA)
  • Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
SG10201907051SA 2018-07-31 2019-07-31 Object detection based on lidar intensity SG10201907051SA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862712479P 2018-07-31 2018-07-31
US16/166,950 US10598791B2 (en) 2018-07-31 2018-10-22 Object detection based on Lidar intensity

Publications (1)

Publication Number Publication Date
SG10201907051SA true SG10201907051SA (en) 2020-02-27

Family

ID=67514419

Family Applications (1)

Application Number Title Priority Date Filing Date
SG10201907051SA SG10201907051SA (en) 2018-07-31 2019-07-31 Object detection based on lidar intensity

Country Status (7)

Country Link
US (1) US10598791B2 (en)
EP (1) EP3605137A1 (en)
JP (1) JP6676814B2 (en)
CN (1) CN110888146B (en)
AU (1) AU2019210587B2 (en)
CA (1) CA3050586A1 (en)
SG (1) SG10201907051SA (en)

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US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror
WO2021195831A1 (en) * 2020-03-30 2021-10-07 深圳市大疆创新科技有限公司 Method and apparatus for measuring reflectivity in real time, and movable platform and computer-readable storage medium
US12105225B2 (en) * 2020-04-17 2024-10-01 Velodyne Lidar Usa, Inc. Systems and methods for calibrating a LiDAR device
CN112558047A (en) * 2020-12-22 2021-03-26 中国第一汽车股份有限公司 Reflectivity calibration system, data processing method, equipment and storage medium
CN112666566A (en) * 2021-01-14 2021-04-16 深圳市杉川机器人有限公司 Laser radar ranging method and device, electronic equipment and storage medium
CN113189980B (en) * 2021-04-07 2024-04-16 惠州拓邦电气技术有限公司 Charging pile reverse light intensity filtering method and device and charging robot
US12072451B2 (en) 2021-11-17 2024-08-27 Waymo Llc Methods for detecting LIDAR aperture fouling
KR102616439B1 (en) * 2022-10-27 2023-12-21 주식회사 모빌테크 Method for Noise filtering through neighbourhood point and computer program recorded on record-medium for executing method therefor
CN116660873B (en) * 2023-08-01 2023-11-03 佛山市兴颂机器人科技有限公司 Precision compensation method, device and equipment for laser sensor and storage medium

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US7983817B2 (en) * 1995-06-07 2011-07-19 Automotive Technologies Internatinoal, Inc. Method and arrangement for obtaining information about vehicle occupants
US7944548B2 (en) * 2006-03-07 2011-05-17 Leica Geosystems Ag Increasing measurement rate in time of flight measurement apparatuses
US8050863B2 (en) * 2006-03-16 2011-11-01 Gray & Company, Inc. Navigation and control system for autonomous vehicles
WO2009136184A2 (en) * 2008-04-18 2009-11-12 Bae Systems Plc Improvements in lidars
JP5649298B2 (en) 2009-11-05 2015-01-07 三菱重工業株式会社 Object detection apparatus and object detection method
US20130253753A1 (en) * 2012-03-23 2013-09-26 Google Inc. Detecting lane markings
US9046600B2 (en) * 2012-12-05 2015-06-02 Toyota Motor Engineering & Manufacturing North America, Inc. Method and apparatus for intensity calibration of multi-beam lidar sensors
US10230934B2 (en) * 2013-06-14 2019-03-12 Microsoft Tehcnology Licensing, Llc Depth map correction using lookup tables
US9080866B1 (en) * 2013-06-26 2015-07-14 Google Inc. Methods and systems for detection of reflective markers at long range
JP6338369B2 (en) 2013-12-26 2018-06-06 キヤノン株式会社 Information processing apparatus and information processing method
US9098754B1 (en) 2014-04-25 2015-08-04 Google Inc. Methods and systems for object detection using laser point clouds
US9625582B2 (en) 2015-03-25 2017-04-18 Google Inc. Vehicle with multiple light detection and ranging devices (LIDARs)
US9910441B2 (en) 2015-11-04 2018-03-06 Zoox, Inc. Adaptive autonomous vehicle planner logic
US10582121B2 (en) 2016-01-12 2020-03-03 Mitsubishi Electric Research Laboratories, Inc. System and method for fusing outputs of sensors having different resolutions
US10145945B2 (en) 2017-01-11 2018-12-04 Toyota Research Institute, Inc. Systems and methods for automatically calibrating a LIDAR using information from a secondary vehicle

Also Published As

Publication number Publication date
US10598791B2 (en) 2020-03-24
AU2019210587A1 (en) 2020-02-20
CN110888146A (en) 2020-03-17
AU2019210587B2 (en) 2020-04-23
US20200041652A1 (en) 2020-02-06
JP2020020793A (en) 2020-02-06
CN110888146B (en) 2022-05-31
CA3050586A1 (en) 2019-10-02
EP3605137A1 (en) 2020-02-05
JP6676814B2 (en) 2020-04-08

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