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:
Dec. 10, 2024
Filed:
Apr. 30, 2021
Waymo Llc, Mountain View, CA (US);
Kanika Sachdev, Sunnyvale, CA (US);
Pierre-Yves Droz, Los Altos, CA (US);
Caner Onal, Palo Alto, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
An example method and system for filtering point cloud data includes obtaining point cloud data from a LIDAR device. The point cloud data may include at least a first pulse-length range and a second pulse-length range. The first range may include one or more first-length pulses and the second range may include one or more second-length pulses. The method may further include filtering the point cloud data by determining respective magnitudes of each of the one or more first-length pulses and each of the one or more second-length pulses, comparing the magnitudes of the first-length pulses to a first threshold, comparing the magnitudes of the second-length pulses to a second threshold, and removing any pulses having a magnitude less than the respective thresholds. The method may further include determining, based on the filtered point cloud data, objects in an environment around the LIDAR.