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:
May. 30, 2023
Filed:
Apr. 04, 2019
Denso International America, Inc., Southfield, MI (US);
Denso Corporation, Aichi-Pref, JP;
Zaydoun Rawashdeh, Farmington, MI (US);
DENSO International America, Inc., Southfield, MI (US);
Denso Corporation, Kariya, JP;
Abstract
A LiDAR point cloud that includes two candidate clusters for merging is received. At a first phase, a distance between the two clusters is determined. If the distance is greater than a threshold, the candidate clusters are not merged. Otherwise, an additional point cloud is received for each cluster at different times. A motion characteristic is determined for each cluster. If the motion characteristic for each cluster is close (indicating that the objects are moving at the same speed), then the clusters are merged. Otherwise the clusters are not merged. The motion characteristic for a cluster can be determined by performing an alignment operation using the point cloud received for the cluster, and using the error associated with the alignment operation as the motion characteristic for the cluster. The decision to merge clusters is based on raw point cloud data, which can take place early in the tracking cycle.