Lidar waveform classification
AssigneeCaterpillar Inc.
InventorsMark E. Hartman, Weston Taylor, Nathaniel W. Hart, Thomas Joseph Houchin
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Abstract
A system and method for controlling movement of a machine or a portion of the machine. The method comprises processing a waveform based on detected reflected light and a derivative of the waveform. The waveform includes a return. The method further comprises classifying the return as a phantom target or a non-amorphous target based on the result of the processing, and controlling movement of the machine or a portion of the machine based on the result of the classifying the return.
Claims20
A method for controlling movement of a machine or a portion of the machine, the method comprising:
- processing, by a controller, a waveform based on reflected light and a derivative of the waveform,
- the waveform including a return;
- classifying, by the controller, the return as from a phantom target or a non-amorphous target based on a result of the processing;
- and
- controlling, by a machine controller, movement of the machine or the portion of the machine based on classifying the return.
A system for identifying phantom target returns, the system comprising:
- an emission and detection module configured to generate and emit a laser light beam and to detect reflected light from when the laser light beam is incident upon a target;
- and
- a controller configured to:
- process a waveform detected based on the reflected light,
- the waveform including a return;
- process a rate of change in light energy detected for the waveform;
- and
- classify the return as a phantom target or a non-amorphous target based on processing of the waveform or processing of the rate of change in light energy.
A method for identifying phantom target returns, the method comprising:
- processing, by a controller, a waveform detected based on reflected light,
- the waveform including a return;
- processing, by the controller, a rate of change in light energy for the waveform;
- and
- classifying, by the controller, the return as a phantom target or a non-amorphous target based on processing of the waveform or processing of the rate of change in light energy.
Dependencies are inferred from the claim text.