Method for identification of a noise point used for lidar, and lidar system
AssigneeHesai Technology Co., Ltd.
InventorsXiaotong ZHOU, Shaoqing XIANG, Zhaoming ZENG, Zhenlei SHAO
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Abstract
A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.
Claims20
A method of laser ranging by a LiDAR, the method comprising:
- emitting a plurality of laser pulses toward a first measurement point;
- receiving echoes formed by a reflection of the plurality of laser pulses;
- generating a plurality of sampling points for the echoes;
- obtaining a subset of the plurality of the sampling points;
- determining a noise magnitude that characterizes a fluctuation of the subset of the sampling points;
- and
- detecting a state of weather based on the noise magnitude.
A light detection and ranging system, comprising:
- a plurality of laser emitters configured to emit a plurality of laser pulses toward a first measurement point;
- a plurality of laser detectors configured to detect echoes that are formed by a reflection of the plurality of laser pulses and generate a plurality of sampling points for the echoes;
- and
- a control unit configured to obtain a subset of the plurality of the sampling points, determine a noise magnitude that characterizes a fluctuation of the subset of the sampling points, and detect a state of weather based on the noise magnitude.
Dependencies are inferred from the claim text.