Aeva, Inc.

Heethesh Vhalve Naresh

Bruno Hexsel

A system and method including, predicting a first set of Doppler velocity information for a first point set to produce a first predicted set of Doppler velocity information for the first point set; determining one or more Doppler velocity errors based on the first predicted set of Doppler velocity information and a second set of Doppler velocity information; predicting a third set of Doppler velocity information for the second point set to produce a second predicted set of Doppler velocity information for the second point set; determining one or more Doppler velocity errors based on at least one of the second predicted set of Doppler velocity information and a fourth set of Doppler velocity information; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set.

Techniques for doppler point set registration

A system and method including, determining an alignment between one or more points of a first point set and one or more points of a second point set; predicting a first set of Doppler velocity information for the first point set to produce a first predicted set of Doppler velocity information; comparing a second set of Doppler velocity information and the first predicted set of Doppler velocity information to compute one or more Doppler velocity errors; predicting a third set of Doppler velocity information for the second point set to produce a second predicted set of Doppler velocity information; comparing a fourth set of Doppler velocity information and the second predicted set of Doppler velocity information to compute Doppler velocity errors; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set.

A system and method including, determining an alignment between one or more points of a first point set and one or more points of a second point set; provided the alignment does not satisfy a point set alignment threshold, wherein the point set alignment threshold represents a geometric alignment error threshold between the first and second point sets: predicting a first set of Doppler velocity information for the first point set to produce a first predicted set of Doppler velocity information for the first point set; comparing a second set of Doppler velocity information and the first predicted set of Doppler velocity information to compute one or more Doppler velocity errors; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set to produce a globally consistent registered point set.

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Sunnyvale, CA, United States of America

Heethesh Vhalve Naresh