# US 11,307,295 B1 · Techniques for fast point cloud filtering using a parallel cascaded filter

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- Number: US 11,307,295 B1
- Document ID: US11307295B1
- Status: Granted
- Kind: B1
- Application number: 17/398,440
- Filed: 2021-08-10
- Published: 2022-04-21
- Granted: 2022-04-19
- Earliest claimed: 2020-10-15
- Assignees: Aeva, Inc.
- Applicants: Aeva, Inc.
- Inventors: Krishna Toshniwal; Bruno Hexsel; Kumar Bhargav Viswanatha; Jose Krause Perin
- Web page: https://patentgrep.com/patent/US11307295B1

## CPC

- G06T 5/70: Denoising; Smoothing
- G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section}
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 7/4912: Receivers
- G01S 7/493: Extracting wanted echo signals
- G01S 17/32: using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 17/89: for mapping or imaging
- G06T 5/20: using local operators
- G06T 5/50: using two or more images, e.g. averaging or subtraction
- G06V 10/30: Noise filtering
- G06V 10/443: {by matching or filtering}
- G06V 10/462: {Salient features, e.g. scale invariant feature transforms [SIFT]}
- G06V 20/64: Three-dimensional [3D] objects
- G01S 17/931: of land vehicles
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- 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
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A set of POIs of a point cloud are received at a first filter, where each POI of the set of POIs comprises one or more points. Each POI of the set of POIs is filtered. At a second filter, a first set of neighborhood points of a POI is selected. A first metric for the first set of neighborhood points is computed. Based on the first metric, a first score of the POI is determined. At a third filter, a second set of neighborhood points of a POI is selected. A second metric for the second set of neighborhood points is computed. Based on the second metric, a second score of the POI is determined. At the first filter, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, is determined to extract range or velocity information.

## Claims

### Claim 1

A method of filtering points in a light detection and ranging (LiDAR) system, comprising:
receiving, at a first filter, a set of points of interest (POIs) of a point cloud, wherein each POI of the set of POIs comprises one or more points;
filtering each POI of the set of POIs, the filtering comprising:
at a second filter:
selecting a first set of neighborhood points of a POI;
computing a first metric for the first set of neighborhood points; and
determining a first score of the POI based on the first metric;
at a third filter:
selecting a second set of neighborhood points of the POI;
computing a second metric for the second set of neighborhood points; and
determining a second score of the POI based on the second metric; and
at the first filter:
determining, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, to extract at least one of range or velocity information related to a target;
provided the POI is accepted or modified, transmitting the POI to a filtered point cloud to extract the at least one of range or velocity information related to the target;
provided the POI is rejected, preventing the POI from reaching the filtered point cloud.

### Claim 2 (depends on 1)

The method of claim 1, wherein the filtering each POI of the set of POIs comprises filtering at the second filter and at the third filter independently in parallel.

### Claim 3 (depends on 1)

The method of claim 1, wherein each POI of the set of POIs is received at the second filter and at the third filter independently in parallel.

### Claim 4 (depends on 1)

The method of claim 1, wherein the determining, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, comprises determining to reject the POI in response to determining that at least one of the first score or the second score is below a predetermined threshold.

### Claim 5 (depends on 1)

The method of claim 1, wherein the determining, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, comprises determining to accept or modify the POI in response to determining that both the first score and the second score are not below a predetermined threshold.

### Claim 6 (depends on 1)

The method of claim 1, wherein the second set of neighborhood points are different than the first set of neighborhood points.

### Claim 7 (depends on 1)

The method of claim 1, wherein the second metric for the second set of neighborhood points is different than the first metric for the first set of neighborhood points.

### Claim 8

A light detection and ranging (LiDAR) system, comprising:
a processor; and
a memory to store instructions that, when executed by the processor, cause the system to:
receive, at a first filter, a set of points of interest (POIs) of a point cloud, wherein each POI of the set of POIs comprises one or more points;
filter each POI of the set of POIs, wherein to filter, the system is to:
at a second filter:
select a first set of neighborhood points of a POI;
compute a first metric for the first set of neighborhood points; and
determine a first score of the POI based on the first metric;
at the third filter:
select a second set of neighborhood points of the POI;
compute a second metric for the second set of neighborhood points; and
determine a second score of the POI based on the second metric; and
at the first filter:
determine, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, to extract at least one of range or velocity information related to a target;
provided the POI is accepted or modified, transmit the POI to a filtered point cloud to extract the at least one of range or velocity information related to the target;
provided the POI is rejected, prevent the POI from reaching the filtered point cloud.

### Claim 9 (depends on 8)

The system of claim 8, wherein the system is to filter at the second filter and at the third filter independently in parallel.

### Claim 10 (depends on 8)

The system of claim 8, wherein each POI of the set of POIs is received at the second filter and at the third filter independently in parallel.

### Claim 11 (depends on 8)

The system of claim 8, wherein the system is to reject the POI in response to determining that at least one of the first score or the second score is below a predetermined threshold.

### Claim 12 (depends on 8)

The system of claim 8, wherein the system is to accept or modify the POI in response to determining that both the first score and the second score are not below a predetermined threshold.

### Claim 13 (depends on 8)

The system of claim 8, wherein the second set of neighborhood points are different than the first set of neighborhood points.

### Claim 14 (depends on 8)

The system of claim 8, wherein the second metric for the second set of neighborhood points is different than the first metric for the first set of neighborhood points.

### Claim 15

A light detection and ranging (LiDAR) system, comprising:
an optical source to transmit a portion of a light signal towards a target;
an optical receiver to receive a return beam from the target based on the light signal,
a circuitry; and
a memory to store instructions that, when executed by the circuitry, cause the system to:
receive, at a first filter, a set of points of interest (POIs) of a point cloud, wherein each POI of the set of POIs comprises one or more points;
filter each POI of the set of POIs, wherein to filter, the system is to:
at a second filter:
select a first set of neighborhood points of a POI;
compute a first metric for the first set of neighborhood points; and
determine a first score of the POI based on the first metric;
at the third filter:
select a second set of neighborhood points of the POI;
compute a second metric for the second set of neighborhood points; and
determine a second score of the POI based on the second metric; and
at the first filter:
determine, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, to extract at least one of range or velocity information related to a target;
provided the POI is accepted or modified, transmit the POI to a filtered point cloud to extract the at least one of range or velocity information related to the target;
provided the POI is rejected, prevent the POI from reaching the filtered point cloud.

### Claim 16 (depends on 15)

The system of claim 15, wherein the system is to filter at the second filter and at the third filter independently in parallel.

### Claim 17 (depends on 15)

The system of claim 15, wherein each POI of the set of POIs is received at the second filter and at the third filter independently in parallel.

### Claim 18 (depends on 15)

The system of claim 15, wherein the system is to reject the POI in response to determining that at least one of the first score or the second score is below a predetermined threshold.

### Claim 19 (depends on 15)

The system of claim 15, wherein the system is to accept or modify the POI in response to determining that both the first score and the second score are not below a predetermined threshold.

### Claim 20 (depends on 15)

The system of claim 15, wherein the second set of neighborhood points are different than the first set of neighborhood points.

### Claim 21 (depends on 15)

The system of claim 15, wherein the second metric for the second set of neighborhood points is different than the first metric for the first set of neighborhood points.