Collection and use of enhanced lidar data

Abstract

Methods and systems for collecting and using enhanced lidar point cloud data are provided. One example method includes using a lidar device to collect point cloud data for a surrounding environment. The method further includes determining that enhanced point cloud data should be obtained for a region of interest (ROI) in the environment. The method further includes, in response to the determination, collecting enhanced point cloud data for the object by at least one of: increasing a density of point cloud measurements within a region of interest (ROI) corresponding to the object, or moving a field of view (FOV) for the lidar device according to the ROI.

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