LiDAR Echo Data Filtering for Point Cloud Expansion

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Solution Overview

Problem

LiDAR systems face challenges in object recognition due to point cloud expansion caused by high-reflectivity objects, which diffuses or expands point cloud data, impairing recognition accuracy.

Innovation Solution

An echo data processing method that filters high-reflection expansion echoes by determining echo features, such as area and transmission power, and fuses target echo data to improve recognition accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Use of energy by moving object

If LiDAR detects high-reflectivity objects, then the reflected energy is strong, but point cloud expansion occurs which deteriorates object recognition accuracy

Engineering Contradiction:

Improvereflected energyVSAvoidobject recognition accuracy

Core Design Contradiction:

Use of energy by moving objectVSMeasurement precision

Solution Approach 1:

The patent extracts and removes high-reflectivity echo data from the echo dataset by identifying characteristics such as large echo area and high transmission power. This extraction process isolates the problematic high-reflectivity echoes that cause point cloud expansion, allowing them to be filtered out while retaining useful echo data for accurate object recognition

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent changes the parameters used for echo data selection by introducing multiple dimensions including echo area, transmission power, and consistency with adjacent echo data. By adjusting these parameters and their threshold values, the system can dynamically identify and exclude high-reflectivity echoes that cause point cloud expansion while maintaining recognition accuracy

Inventive Principle:

Principle #35Parameter changes

2Quantity of substance

If echo data from high-reflectivity objects is included in fusion, then more data is available, but point cloud diffusion occurs which worsens recognition capability

Engineering Contradiction:

Improveecho data quantityVSAvoidrecognition capability

Core Design Contradiction:

Quantity of substanceVSReliability

Solution Approach 1:

The patent extracts high-reflectivity echo data characterized by large echo areas and high transmission power from the complete echo dataset. This extraction enables the system to maintain a sufficient quantity of echo data for fusion while removing the specific subset that causes point cloud diffusion and degrades recognition capability

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent converts the harmful effect of high-reflectivity echoes into a beneficial filtering criterion. By using the characteristics of high-reflectivity echoes (large echo area, high transmission power) as identification markers, the system can deliberately exclude these echoes from fusion, transforming what was previously a source of point cloud diffusion into a reliable basis for data selection

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Data Source

PatentUS20250334681A1Echo data processing method and device, terminal device, and storage medium

Publication Date: 2025.10.30 SUTENG INNOVATION TECHNOLOGY CO LTD

AI summary

The present application provides an echo data processing method, a device, a terminal equipment, and a storage medium. The echo data processing method includes: obtaining echo data corresponding to a plurality of scans, and determining echo features according to the echo data; determining target echo data according to the echo features of a current scan and the echo features of a last scan, the target echo data being echo data after high-reflection-expansion echo is filtered out; and fusing the target echo data to perform target recognition according to the fused target echo data.