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US 11,448,738 B2Granted
Light detection and ranging signal correction methods and systems
AssigneeBeijing Voyager Technology Co., Ltd.
InventorsZhenghan Zhu, Yue Lu, John Wu
Life of this patent
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Abstract
A system and method for correcting a Light Detection And Ranging (LiDAR) return signal is disclosed. The LiDAR return signal is digitized by a converter. An exemplary signal correction system includes a signal processor configured to identify saturated samples from the LiDAR return signal, determine a correction parameter based on non-saturated samples in the LiDAR return signal and corresponding samples in a reference signal, and correct the saturated samples in the LiDAR return signal using the correction parameter.
Claims18
A system for correcting a Light Detection And Ranging (LiDAR) return signal, the system comprising:
- a communication interface configured to receive the LiDAR return signal and a reference signal, wherein:
- the LiDAR return signal comprises at least one saturated sample and at least one non-saturated sample both sampled from a same saturated pulse signal, a portion of the saturated pulse signal being clipped flat due to saturation;
- and
- the reference signal comprises reference samples of a predefined pulse signal in a same shape of the LiDAR return signal when the LiDAR return signal is not saturated;
- and a processor coupled to the communication interface and configured to:
- identify the at least one saturated sample and the at least one non-saturated sample from the LiDAR return signal;
- determine a correction parameter based on the at least one non-saturated sample in the LiDAR return signal and at least one corresponding reference sample in the reference signal, wherein the at least one non-saturated sample and the at least one reference sample are located at a sample location relative to the saturated pulse signal and the predefined pulse signal, respectively;
- and
- correct the at least one saturated sample in the LiDAR return signal using the correction parameter.
6 more elements
A method for correcting a Light Detection And Ranging (LiDAR) return signal, the method comprising:
- receiving, by a communication interface, the LiDAR return signal and a reference signal, wherein:
- the LiDAR return signal comprises at least one saturated sample and at least one non-saturated sample both sampled from a same saturated pulse signal, a portion of the saturated pulse signal being clipped flat due to saturation;
- and
- the reference signal comprises reference samples of a predefined pulse signal in a same shape of the LiDAR return signal when the LiDAR return signal is not saturated;
- identifying, by a processor, the at least one saturated sample and the at least one non-saturated sample from the LiDAR return signal;
- determining, by the processor, a correction parameter based on the at least one non-saturated sample in the LiDAR return signal and at least one corresponding reference sample in the reference signal, wherein the at least one non-saturated sample and the at least one reference sample are located at a sample location relative to the saturated pulse signal and the predefined pulse signal, respectively;
- and
- correcting, by the processor, the at least one saturated sample in the LiDAR return signal using the correction parameter.
5 more elements
A Light Detection And Ranging (LiDAR) system, comprising:
- a photodetector configured to detect a LiDAR return signal returned from an object;
- a converter configured to digitize the LiDAR return signal;
- and
- a communication interface configured to receive the digitized LiDAR return signal and a reference signal, wherein:
- the digitized LiDAR return signal comprises at least one saturated sample and at least one non-saturated sample both sampled from a same saturated pulse signal, a portion of the saturated pulse signal being clipped flat due to saturation;
- and
- the reference signal comprises reference samples of a predefined pulse signal in a same shape of the LiDAR return signal when the LiDAR return signal is not saturated;
- and a processor coupled to the communication interface and configured to:
- identify the at least one saturated sample and the at least one non-saturated sample from the digitized LiDAR return signal;
- determine a correction parameter based on the at least one non-saturated sample in the digitized LiDAR return signal and at least one corresponding reference sample in the reference signal, wherein the at least one non-saturated sample and the at least one reference sample are located at a sample location relative to the saturated pulse signal and the predefined pulse signal, respectively;
- and
- correct the at least one saturated sample in the LiDAR return signal using the correction parameter.
9 more elements
Dependencies are inferred from the claim text.