Systems and methods for multi-tier centroid calculation
AssigneeVelodyne Lidar, Inc.
InventorsKANKE GAO, Kiran Kumar Gunnam, Nitinkumar Sagarbhai Barot
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Abstract
Described herein are systems and methods that determines a centroid of a waveform in a high noise environment. In one embodiment, the method may include determining a damping threshold and a noise-exclusion threshold for a waveform that define a three tier dynamic range for the waveform comprising a noise-exclusion region, damping region and a full region. The noise-exclusion threshold may be less than the damping threshold. Weights for each of the mass scalars may be determined based on the three tier dynamic range. The centroid may be determined based on the determined weights and their corresponding position vectors.
Claims20
An apparatus comprising:
- a threshold defining circuitry operable to determine a noise-exclusion threshold and a damping threshold for a waveform, wherein the noise-exclusion threshold is less than the damping threshold;
- a weight calculation circuitry operable to determine weights of mass scalars of the waveform based on the noise-exclusion threshold, the damping threshold and mass scalar values;
- and
- a centroid calculation circuitry operable to determine a centroid of the waveform based on determined weights of mass scalars and their corresponding position vectors.
A method comprising:
- determining, at a centroid apparatus, a damping threshold and a noise-exclusion threshold for a waveform that define a three tier dynamic range for the waveform comprising a noise-exclusion region, a damping region and a full region, wherein the noise-exclusion threshold is less than the damping threshold;
- determining, at the centroid apparatus, weights for each of mass scalars of the waveform based on the three tier dynamic range;
- and
- determining, at the centroid apparatus, a centroid based on the determined weights and their corresponding position vectors.
A non-transitory computer readable storage medium having computer program code stored thereon, the computer program code, when executed by one or more processors implemented on an centroid apparatus, causes the centroid apparatus to perform a method comprising:
- determining a damping threshold and a noise-exclusion threshold for a waveform that define a three tier dynamic range for the waveform comprising a noise-exclusion region, damping region and a full region, wherein the noise-exclusion threshold is less than the damping threshold;
- determining weights for each of mass scalars of the waveform based on the three tier dynamic range;
- and
- determining, a centroid based on the determined weights and their corresponding position vectors.
Dependencies are inferred from the claim text.