The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 12, 2021
Filed:
Mar. 13, 2019
Argo Ai, Llc, Pittsburgh, PA (US);
Kevin Lee Wyffels, Livonia, MI (US);
Argo AI, LLC, Pittsburgh, PA (US);
Abstract
A method of estimating a kinetic state of a rigid body is disclosed. A LiDAR sensor receives multiple point clouds. A processor determined a rigid body transform for a pair of the received point clouds and obtains a sample space of previous rigid body transforms. The processor then identifies a proposal distribution that represents the probability that any rigid body transform in the sample space best aligns a subset of points of a first point cloud of the pair to a subset of points in a second point cloud of the pair. The processor then uses importance sampling to identify a probability distribution for the rigid body transform that best aligns the subsets of points, It then uses the identified probability distribution and a history of probability distributions to estimate a kinetic state of the rigid body.