Doppler Per Point LiDAR Motion Estimation

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Solution Overview

Problem

Traditional LiDAR systems require multiple sequential samples or landmark identification to estimate motion, which is inefficient and prone to errors.

Innovation Solution

A Doppler per point LiDAR system that estimates motion directly from a single sample of points without landmark association, using Doppler velocity measurements and Cartesian location data to calculate translational and rotational movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If traditional LiDAR systems use multiple sequential samples or landmark identification to estimate motion, then motion estimation can be performed, but the process is inefficient and prone to errors

Engineering Contradiction:

Improvemotion estimation efficiencyVSAvoidmotion estimation accuracy

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The patent segments the motion estimation problem into independent per-point Doppler velocity measurements rather than relying on global landmark identification. Each point in the point cloud provides independent velocity information, allowing parallel processing and eliminating the sequential sample requirement, thus improving both efficiency and reliability

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent replaces the mechanical/algorithmic landmark identification process with direct physical Doppler velocity measurements. Instead of inferring motion through sequential positional data or landmark tracking, the system uses the Doppler effect to directly measure velocity at each point, eliminating the need for complex motion estimation algorithms and improving both speed and accuracy

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If traditional LiDAR systems require landmark identification, then motion can be estimated, but the process is complex and error-prone

Engineering Contradiction:

Improvemotion estimation accuracyVSAvoidlandmark identification process

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent extracts the velocity measurement function from the complex landmark identification process. By using Doppler per point measurements, the system directly obtains velocity information without needing to identify landmarks or perform complex motion estimation algorithms, thereby reducing device complexity while improving reliability

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The Doppler per point LiDAR system is self-sufficient for motion estimation without requiring external landmarks or sequential sampling. The system uses its own intrinsic Doppler measurements at each point to directly determine motion parameters, eliminating dependency on external reference structures and reducing overall system complexity

Inventive Principle:

Principle #25Self-service

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables accurate estimation of LiDAR sensor motion and object velocity within a scene, independent of landmark identification, improving efficiency and reducing errors in motion estimation.

Implementation Method 1

performing a scene measurement using a LiDAR sensor capable of measuring Doppler per point

Methodology Applied

Scientific EffectDoppler effect: Doppler Effect

Data Source

PatentUS12298395B2Velocity estimation using doppler per point lidar systems

Publication Date: 2025.05.13 AEVA INC

AI summary

A method of operating a light detection and ranging (LiDAR) system is provided that includes performing a scene measurement using a LiDAR sensor capable of measuring Doppler per point. The method also includes estimating a velocity of the LiDAR sensor with respect to static points within the scene based on the scene measurement. The method may also include compensating for the velocity of the LiDAR sensor and compensating for a Doppler velocity of the LiDAR sensor.