Autonomous vehicle computing system, light detection and ranging calibration system and method thereof

Abstract

The present application discloses an autonomous vehicle computing system, a light detection and ranging calibration system and a method thereof. Various aspects of the present disclosure relate to systems, methods, and devices for determining reflectivity characteristics of an object based on light detection and ranging 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 including accessing during operation of a vehicle Input data points output by the light detection and ranging unit. The operations may also include using the reflectance inference model to infer reflectance values ​​for the object based on the input data points. The albedo inference model includes a mapping of previously collected data points to a coordinate system using associated range and raw intensity values. The operations may also include determining one or more properties of the object based on the inferred reflectance values.

Description

[0001] priority statement [0002] This application claims the benefit of priority to U.S. Provisional Application Serial No. 62 / 712,479, filed July 31, 2018, the entire contents of which are incorporated herein by reference. technical field [0003] The subject matter disclosed herein relates to light detection and ranging (Lidar) systems. In particular, example embodiments may relate to systems and methods for object detection based on raw intensity values ​​output by a Lidar system. Background technique [0004] Lidar is a radar-like system that uses laser light to create a three-dimensional representation of the surrounding environment. A Lidar unit includes at least one laser emitter paired with a detector to form a channel, but an array of channels can be used to expand the field of view of the Lidar unit. During operation, each channel emits a laser signal into the environment, which is reflected back to the detector by the surrounding environment. A single channel...

AI Technical Summary

Problems solved by technology

However, given the inhomogeneity of the Lidar's intensity values ​​caused by signal noise and other factors mentioned above affecting the strength of the returned signal, the use of the raw intensity values ​​provided by the Lidar unit often leads to problems for localization of autonomous and semi-autonomous vehicles, Inaccuracies and other problems in perception, prediction, and motor planning

Images