# US 2024/0201377 A1 · Collection and use of enhanced lidar data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0201377 A1 - Document ID: US20240201377A1 - Status: Published application - Kind: A1 - Application number: 18/082,923 - Filed: 2022-12-16 - Published: 2024-06-20 - Earliest claimed: 2022-12-16 - Assignees: Velodyne Lidar USA, Inc. - Applicants: Velodyne Lidar USA, Inc. - Inventors: Stephen S. Nestinger; Mathew Noel Rekow - Web page: https://patentgrep.com/patent/US20240201377A1 ## CPC - G01S 7/417: {involving the use of neural networks} - G01S 17/89: for mapping or imaging - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 17/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 17/931: of land vehicles - G06V 10/25: Determination of region of interest [ROI] or a volume of interest [VOI] - G06V 10/764: using classification, e.g. of video objects - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### Claim 1 A method of using lidar, the method comprising: using a lidar device on a vehicle to collect point cloud data for a surrounding environment; determining that enhanced point cloud data should be obtained for a region of interest (ROI) in the environment; and in response to the determination, collecting enhanced point cloud data by at least one of: increasing a density of point cloud measurements within the ROI; or moving a field of view (FOV) for the lidar device according to the ROI. ### Claim 2 (depends on 1) The method of claim 1, wherein determining that enhanced point cloud data should be obtained comprises: detecting an object in the surrounding environment based on the point cloud data; and determining that the point cloud data is insufficient to characterize or classify the object, and wherein the method further comprises using the enhanced point cloud data to characterize or classify the object. ### Claim 3 (depends on 2) The method of claim 2, wherein detecting the object comprises detecting a presence of the object without identifying the object. ### Claim 4 (depends on 2) The method of claim 2, wherein determining that the point cloud data is insufficient comprises determining that the object is unidentified. ### Claim 5 (depends on 2) The method of claim 2, wherein determining that the point cloud data is insufficient comprises determining that the point cloud data is insufficient to determine at least one of a boundary of the object, a velocity of the object, or an orientation of the object. ### Claim 6 (depends on 2) The method of claim 2, wherein determining that the point cloud data is insufficient comprises determining that the object is unable to be classified to a threshold level of confidence. ### Claim 7 (depends on 1) The method of claim 1, wherein the method comprises increasing the density of point cloud measurements within the ROI, and wherein increasing the density of point cloud measurements comprises increasing a rate at which a transmitter in the lidar device emits optical signals toward the ROI. ### Claim 8 (depends on 7) The method of claim 7, wherein the increased rate is limited to the ROI. ### Claim 9 (depends on 7) The method of claim 7, wherein the FOV comprises a width and a height, and wherein the increased rate is limited to a portion of the width and a portion of the height. ### Claim 10 (depends on 1) The method of claim 1, wherein the method comprises moving the field of view (FOV) for the lidar device according to the ROI. ### Claim 11 (depends on 10) The method of claim 10, wherein moving the FOV comprises translating a center of the FOV toward the ROI. ### Claim 12 (depends on 10) The method of claim 10, wherein moving the FOV comprises translating the FOV up or down. ### Claim 13 (depends on 1) The method of claim 1, wherein collecting enhanced point cloud data for the object comprises selecting an operating mode for the lidar device based on at least one of: a preferred point cloud resolution for the ROI, a preferred point cloud resolution for regions outside the ROI, a distance between the lidar device and the object, a preferred FOV size, a preferred FOV height, a preferred FOV width, a preferred FOV position, a determination that at least a portion of the ROI falls outside the FOV, a determination that the FOV encompasses regions that are not of interest, or any combination thereof. ### Claim 14 (depends on 1) The method of claim 1, wherein the method comprises increasing the density of point cloud measurements within the ROI, and wherein increasing the density of point cloud measurements comprises decreasing the FOV for the lidar device. ### Claim 15 (depends on 14) The method of claim 14, wherein the determination that enhanced point cloud data should be obtained is based on at least one of a velocity or a location for the vehicle. ### Claim 16 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining the velocity based on a signal from a speedometer or a vehicle control system for the vehicle. ### Claim 17 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining that the velocity has increased. ### Claim 18 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining that the velocity is greater than a threshold value. ### Claim 19 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining the location using a global positioning system. ### Claim 20 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining that the location has moved from a slow-speed environment to a high-speed environment. ### Claim 21 (depends on 15) The method of claim 15, wherein determining that enhanced point cloud data should be obtained comprises determining that the location is on a highway. ### Claim 22 (depends on 14) The method of claim 14, wherein decreasing the FOV comprises decreasing at least one of an azimuth angle or an elevation angle. ### Claim 23 (depends on 14) The method of claim 14, wherein decreasing the FOV comprises decreasing a spacing between data points in the point cloud. ### Claim 24 (depends on 14) The method of claim 14, wherein decreasing the FOV comprises maintaining a rate at which optical signals are sent from the lidar device into the surrounding environment. ### Claim 25 A system comprising: a lidar device mounted on a vehicle and configured to collect point cloud data for a surrounding environment; and at least one computer processor programmed to perform operations comprising: determining that enhanced point cloud data should be obtained for a region of interest (ROI) in the environment; and in response to the determination, instructing the lidar device to collect the enhanced point cloud data by at least one of: increasing a density of point cloud measurements within the ROI; or moving a field of view (FOV) for the lidar device according to the ROI. ### Claim 26 (depends on 25) The system of claim 25, wherein the at least one computer processor instructs the lidar device to collect the enhanced point cloud data by increasing a density of point cloud measurements within the ROI, and wherein increasing the density of point cloud measurements comprises increasing a rate at which a transmitter in the lidar device emits optical signals toward the ROI. ### Claim 27 (depends on 25) The system of claim 25, wherein the at least one computer processor instructs the lidar device to collect the enhanced point cloud data by moving the FOV for the lidar device according to the ROI. ### Claim 28 (depends on 25) The system of claim 25, wherein the at least one computer processor instructs the lidar device to collect the enhanced point cloud data by increasing the density of point cloud measurements within the ROI, and wherein increasing the density of point cloud measurements comprises decreasing the FOV for the lidar device.