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US 11,698,458 B2Granted
Method and system for performing dynamic LIDAR scanning
AssigneeCaterpillar Inc.
InventorPaul Russell Friend
Life of this patent
Estimating the term…
Abstract
A light detection and ranging (LIDAR) controller is disclosed. The LIDAR controller may determine, based on a position of an implement, a scan area of the LIDAR sensor, wherein the scan area has an increased point density relative to another area of a field of view, of the LIDAR sensor, that includes the implement. The LIDAR controller may cause the LIDAR sensor to capture, with the increased point density, LIDAR data associated with the scan area. The LIDAR controller may process the LIDAR data to determine whether an object of interest is in an environment of the machine that is associated with the scan area. The LIDAR controller may perform an action based on the environment of the machine.
Claims20
A method, comprising:
- causing, by a device, a light detection and ranging (LIDAR) sensor to capture LIDAR data with a first point density within a first scan area;
- receiving, by the device, implement information associated with an implement of a machine, at least a portion of the implement being located within the first scan area such that points from the LIDAR sensor are directed on the implement;
- determining, by the device and based on the implement information, a position of the implement relative to a field of view of the LIDAR sensor;
- determining, by the device and based on the position of the implement, a second point density within a second scan area, the second point density being different than the first point density and having an increased point density relative to another area of the field of view that includes the implement, the second point density including points that are redistributed from the implement to locations spaced away from the implement and spaced away from a detected object;
- causing, by the device, the LIDAR sensor to capture, with the second point density, LIDAR data associated with the second scan area;
- and
- processing, by the device, the LIDAR data to determine, using an object detection model, a characteristic of an environment associated with the second scan area;
- and
- performing, by the device, an action associated with the characteristic.
6 more elements
A device, comprising:
- one or more memories;
- and
- one or more processors, communicatively coupled to the one or more memories, configured to:
- cause a light detection and ranging (LIDAR) sensor mounted to a machine to capture LIDAR data associated with a scan area;
- determine a position of an implement of the machine;
- cause, based on the position of the implement, the LIDAR sensor to capture LIDAR data in the scan area;
- determine a change in the position of the implement of the machine;
- determine, based on the changed position of the implement of the machine, a changed scan area within a field of view of the LIDAR sensor,
- wherein the changed scan area has an increased point density relative to another area of the field of view that includes the implement;
- cause the LIDAR sensor to capture, with the increased point density, LIDAR data associated with the changed scan area;
- process the LIDAR data to determine whether an object of interest is
- within the changed scan area;
- and
- perform an action associated with whether the object of interest is within the changed scan area.
11 more elements
A system comprising:
- a light detection and ranging (LIDAR) sensor;
- and
- a controller configured to:
- determine, based on implement information associated with an implement of a machine, a position of the implement;
- determine, based on the position of the implement, a scan area of the LIDAR sensor,
- wherein the scan area has an increased point density relative to another area of a field of view, of the LIDAR sensor, that includes the implement caused by refocusing points that previously illuminated and/or reflected portions of the implement located within a mask area to areas associated with an object of interest and to areas associated with a navigable environment of the machine that is associated with a route;
- cause the LIDAR sensor to capture, with the increased point density, LIDAR data associated with the scan area;
- process the LIDAR data to determine whether the object of interest is in the environment of the machine that is associated with the scan area;
- and
- perform an action based on the environment of the machine.
7 more elements
Dependencies are inferred from the claim text.