TWI907643B - 旋轉感測器的物件偵測 - Google Patents

旋轉感測器的物件偵測

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Publication number
TWI907643B
TWI907643B TW111104740A TW111104740A TWI907643B TW I907643 B TWI907643 B TW I907643B TW 111104740 A TW111104740 A TW 111104740A TW 111104740 A TW111104740 A TW 111104740A TW I907643 B TWI907643 B TW I907643B
Authority
TW
Taiwan
Prior art keywords
point
points
data
converter model
scanner
Prior art date
Application number
TW111104740A
Other languages
English (en)
Chinese (zh)
Other versions
TW202238169A (zh
Inventor
瑪諾吉 巴特
韓希中史帝夫
費提穆瑞特 波里科利
Original Assignee
美商高通公司
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 美商高通公司 filed Critical 美商高通公司
Publication of TW202238169A publication Critical patent/TW202238169A/zh
Application granted granted Critical
Publication of TWI907643B publication Critical patent/TWI907643B/zh

Links

Classifications

    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/88—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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • 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
    • 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
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/51—Display arrangements

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Image Analysis (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Measurement Of Optical Distance (AREA)
TW111104740A 2021-03-19 2022-02-09 旋轉感測器的物件偵測 TWI907643B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US17/249,967 US20220299649A1 (en) 2021-03-19 2021-03-19 Object detection for a rotational sensor
US17/249,967 2021-03-19

Publications (2)

Publication Number Publication Date
TW202238169A TW202238169A (zh) 2022-10-01
TWI907643B true TWI907643B (zh) 2025-12-11

Family

ID=82016415

Family Applications (1)

Application Number Title Priority Date Filing Date
TW111104740A TWI907643B (zh) 2021-03-19 2022-02-09 旋轉感測器的物件偵測

Country Status (8)

Country Link
US (1) US20220299649A1 (https=)
EP (1) EP4308960A1 (https=)
JP (1) JP7787898B2 (https=)
KR (1) KR20230158486A (https=)
CN (1) CN116981955A (https=)
BR (1) BR112023018239A2 (https=)
TW (1) TWI907643B (https=)
WO (1) WO2022198155A1 (https=)

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EP4453607A1 (en) * 2021-12-23 2024-10-30 Stoneridge Electronics AB Camera monitor system including integrated range sensor
DE102022210248A1 (de) * 2022-09-28 2024-03-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Objektdetektion
TWI900020B (zh) 2024-05-22 2025-10-01 國立成功大學 旋轉式雷射測距儀
US20260062000A1 (en) * 2024-08-27 2026-03-05 Qualcomm Incorporated Multi-distance grid generation for computer vision

Citations (5)

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CN107861102A (zh) * 2012-01-03 2018-03-30 阿森蒂亚影像有限公司 编码定位系统、方法和装置
US20200089244A1 (en) * 2018-09-17 2020-03-19 Great Wall Motor Company Limited Experiments method and system for autonomous vehicle control
US20200284883A1 (en) * 2019-03-08 2020-09-10 Osram Gmbh Component for a lidar sensor system, lidar sensor system, lidar sensor device, method for a lidar sensor system and method for a lidar sensor device
CN111693978A (zh) * 2020-05-13 2020-09-22 复旦大学 基于mimo毫米波雷达的散点检测方法
CN112385222A (zh) * 2019-06-12 2021-02-19 浙江大学 点云处理的方法与装置

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EP2811318B1 (de) * 2013-06-05 2015-07-22 Sick Ag Optoelektronischer Sensor
US9292913B2 (en) * 2014-01-31 2016-03-22 Pictometry International Corp. Augmented three dimensional point collection of vertical structures
EP3340106B1 (en) * 2016-12-23 2023-02-08 Hexagon Technology Center GmbH Method and system for assigning particular classes of interest within measurement data
US10670725B2 (en) * 2017-07-25 2020-06-02 Waymo Llc Determining yaw error from map data, lasers, and cameras
CN109948635B (zh) * 2017-12-21 2021-04-27 北京万集科技股份有限公司 一种基于激光扫描的目标识别方法及装置
GB201804400D0 (en) 2018-03-20 2018-05-02 Univ Of Essex Enterprise Limited Localisation, mapping and network training
US11550059B2 (en) * 2019-02-22 2023-01-10 Garmin Switzerland Gmbh Three-dimensional scanning LIDAR system comprising a receiver channel primary collection lens and an electronically-controllable mirror array selectively direct a directed portion of reflected scanning signal
US11386671B2 (en) 2019-06-25 2022-07-12 Zoox, Inc. Refining depth from an image
AU2020317303B2 (en) 2019-07-22 2023-12-07 Nec Corporation Information processing device, data generation method, and program
DE102019122189A1 (de) * 2019-08-19 2021-02-25 Aptiv Technologies Limited Verfahren zum Erkennen von Objekten
US11514361B2 (en) 2019-08-30 2022-11-29 International Business Machines Corporation Automated artificial intelligence radial visualization
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107861102A (zh) * 2012-01-03 2018-03-30 阿森蒂亚影像有限公司 编码定位系统、方法和装置
US20200089244A1 (en) * 2018-09-17 2020-03-19 Great Wall Motor Company Limited Experiments method and system for autonomous vehicle control
US20200284883A1 (en) * 2019-03-08 2020-09-10 Osram Gmbh Component for a lidar sensor system, lidar sensor system, lidar sensor device, method for a lidar sensor system and method for a lidar sensor device
CN112385222A (zh) * 2019-06-12 2021-02-19 浙江大学 点云处理的方法与装置
CN111693978A (zh) * 2020-05-13 2020-09-22 复旦大学 基于mimo毫米波雷达的散点检测方法

Also Published As

Publication number Publication date
TW202238169A (zh) 2022-10-01
WO2022198155A1 (en) 2022-09-22
EP4308960A1 (en) 2024-01-24
BR112023018239A2 (pt) 2023-10-31
KR20230158486A (ko) 2023-11-20
JP2024510449A (ja) 2024-03-07
CN116981955A (zh) 2023-10-31
US20220299649A1 (en) 2022-09-22
JP7787898B2 (ja) 2025-12-17

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