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:
Mar. 18, 2025
Filed:
Aug. 31, 2022
Zoox, Inc., Foster City, CA (US);
Nehemia Girma Terefe, Foster City, CA (US);
Zoox, Inc., Foster City, CA (US);
Abstract
This disclosure relates to detecting mirrored lidar returns and modifying lidar data using clustering techniques. In some examples, lidar data including a set of lidar points may be captured by a vehicle operating in an environment. The vehicle may combine the lidar data from numerous lidar devices to have a common frame of reference. In some examples, the vehicle may determine a cluster of the lidar points based on elevation data and azimuth data. The vehicle may compare range data of the clusters to determine whether such lidar points are indicative of a lidar return associated with an error (including multipath reflections). Based on determining that the difference in ranges of two lidar points is above a threshold value, the vehicle may determine how to use the data.