Mercedes-benz Group Ag

Robert Boschgmbh

David Peter

Martin Meinke

Sebastian Buck

Matthias Pfender

Markus Enzweiler

Axel Fink

A method for identifying blooming candidates in a Lidar measurement may include providing a distance-based histogram of points of a point cloud generated in the Lidar measurement. In the histogram, clusters of points having the same distance to a Lidar sensor carrying out the Lidar measurement are identified and intensities of the points of a cluster are evaluated. If the cluster contains points, the intensities of which exceed in each case a predefined limit value, those points of the cluster, the intensities of which do not exceed in each case the predefined limit value and in particular fall below the predefined limit value by more than a predefined threshold value, are classified as blooming candidates.

Method and device for identifying blooming candidates in a Lidar measurement

Blooming in a lidar measurement is recognized using a distance from a lidar reflection point determined in an active measurement and a passive measurement. A first distance value is determined in the active measurement, based on a signal duration of a laser pulse, and a second distance value is determined in the passive measurement, based on a triangulation of two-dimensional intensity measurements carried out from different measuring positions. Blooming is identified when the second distance value exceeds the first distance value by a pre-determined amount.

Method and device for the recognition of blooming in a lidar measurement

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Stuttgart, Germany

David Peter