Computation of the angle of incidence of laser beam and its application on reflectivity estimation
US11592524B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 31, 2018 |
| Grant date | Feb 28, 2023 |
| Priority date | — |
| Expiry date | Sep 27, 2041 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W4/40
- WIPO fieldMeasurement
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.