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:
Feb. 28, 2023
Filed:
Dec. 31, 2018
Waymo Llc, Mountain View, CA (US);
Mingcheng Chen, Sunnyvale, CA (US);
Christian Lauterbach, Campbell, CA (US);
Blaise Gassend, East Palo Alto, CA (US);
Nathaniel Quillin, Palo Alto, CA (US);
Luke Wachter, San Francisco, CA (US);
Gil Shotan, San Francisco, CA (US);
Mark Alexander Shand, Palo Alto, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
Methods and systems for laser point clouds are described herein. The method and system may include receiving, at a computing device, lidar data indicative of an environment of a vehicle from a first lidar data source, where the lidar data includes a first plurality of data points indicative of locations of reflections from the environment and further includes a respective intensity for each data point. The method and system also include determining a first surface normal for at least a first data point of the first plurality of data points. The method and system further includes determining a first angle of incidence for the first data point based on the surface normal. Additionally, the method and system includes adjusting the intensity of the first data point based on the first angle of incidence to create a first adjusted intensity for the first data point.