US 12,118,732 B2 · Systems and methods for object detection with LiDAR decorrelation

Abstract

Systems/methods for operating an autonomous vehicle. The methods comprise: obtaining LiDAR data generated by a LiDAR system of the autonomous vehicle and image data generated by a camera of the autonomous vehicle; performing a first object detection algorithm to generate first object detection information using the LiDAR data, and a second object detection algorithm to generate second object detection information using both the LiDAR data and the image data; and processing the first and second object detection information to determine whether a given object was detected by both the first and second object detection algorithms. When a determination is made that the given object was detected by both the first and second object detection algorithms, the first object detection information is selectively modified based on contents of the second object detection information. The modified first object detection information is used to facilitate at least one autonomous driving operation.

Claims20

Dependent claims

A method for operating an autonomous vehicle, comprising:

obtaining, by a computing device, LiDAR data generated by a LiDAR system of the autonomous vehicle and image data generated by a camera of the autonomous vehicle;
performing, by the computing device, a first object detection algorithm to generate first object detection information using the LiDAR data, and a second object detection algorithm to generate second object detection information using both the LiDAR data and the image data;
processing, by the computing device, the first and second object detection information to determine whether a given object was detected by both the first and second object detection algorithms;
performing, by the computing device, the following operations when a determination is made that the given object was detected by both the first and second object detection algorithms;
selectively modifying the first object detection information based on contents of the second object detection information;
and
using, by the computing device, the modified first object detection information to facilitate at least one autonomous driving operation.

4 more elements

A system, comprising:

a processor;
a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for operating an autonomous vehicle, wherein the programming instructions comprise instructions to:
obtain LiDAR data generated by a LiDAR system of the autonomous vehicle and image data generated by a camera of the autonomous vehicle;
perform a first object detection algorithm to generate first object detection information using the LiDAR data, and a second object detection algorithm to generate second object detection information using both the LiDAR data and the image data;
process the first and second object detection information to determine whether a given object was detected by both the first and second object detection algorithms;
perform the following operations when a determination is made that the given object was detected by both the first and second object detection algorithms;
selectively modify the first object detection information based on contents of the second object detection information;
and
causing the modified first object detection information to be used for at least one autonomous driving operation.

6 more elements

Dependencies are inferred from the claim text.

Systems and methods for object detection with LiDAR decorrelation

Life of this patent

Systems and methods for object detection with LiDAR decorrelation

Life of this patent

Abstract

Claims20