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US 12,183,088 B2Granted
Identifying objects using LiDAR
AssigneeMotional AD LLC
InventorsVenice Erin Baylon Liong, Tho Thi Ngoc Nguyen
Life of this patent
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Abstract
Among other things, techniques are described for controlling, using a control circuit, motion of a vehicle based objects identified using LiDAR. For example, respective classes of points of a point cloud are determined, and based on the determined respective classes of the points of the point cloud, objects in the vicinity of the vehicle are identified.
Claims24
A method, comprising:
- receiving, using at least one processor, LiDAR point cloud data associated with a plurality of points in a point cloud;
- generating, using the at least one processor, a Birds-eye View (BeV) of the point cloud and a Range View (RV) of the point cloud based on the plurality of points in the point cloud, wherein the RV is different from the BeV;
- providing, using the at least one processor, the BeV as input to a first view neural network and the RV as input to a RV neural network, the RV neural network different from the BeV neural network;
- generating, using the at least one processor, for each point in the point cloud, a first set of class scores indicative of object classes using the BeV neural network, and a second set of class scores indicative of the object classes using the RV neural network, wherein the first set of class scores and the second set of class scores are generated in parallel;
- determining, using the at least one processor, a finalized label for at least one point in the point cloud, wherein the determining is based on the first set of class scores of the at least one point and the second set of class scores of the at least one point;
- identifying, using the at least one processor, at least one object in a vicinity of a vehicle based at least in part on the finalized label of the at least one point;
- and
- controlling, using the at least one processor, motion of the vehicle based on the at least one object.
5 more elements
A vehicle, comprising:
- at least one LiDAR device capable of generating a LiDAR scan point cloud that includes a plurality of LiDAR data points;
- and
- a processing circuit coupled to the LiDAR device, the processing circuit configured for:
- receiving LiDAR point cloud data associated with a plurality of points in a point cloud;
- generating a Birds-eye View (BeV) of the point cloud and a Range View (RV) of the point cloud based on the plurality of points in the point cloud, wherein the RV is different from the BeV;
- providing the BeV as input to a BeV neural network and the RV as input to a RV neural network, the RV neural network different from the BeV neural network;
- generating for each point in the point cloud, a first set of class scores indicative of object classes using the BeV neural network, and a second set of class scores indicative of the object classes using the RV neural network, wherein the first set of class scores and the second set of class scores are generated in parallel;
- determining a finalized label for at least one point in the point cloud, wherein the determining is based on the first set of class scores of the at least one point and the second set of class scores of the at least one point;
- identifying at least one object in a vicinity of a vehicle based at least in part on the finalized label of the at least one point;
- and
- controlling motion of the vehicle based on the at least one object.
8 more elements
Dependencies are inferred from the claim text.