Methods and system for generating virtual sensor data of a virtual single-photon avalanche diode (SPAD) lidar sensor of a virtual vehicle simulator
US11995761B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Mar 30, 2022 |
| Grant date | May 28, 2024 |
| Priority date | — |
| Expiry date | Aug 16, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of generating virtual sensor data of a virtual single-photon avalanche diode (SPAD) lidar sensor includes generating a two-dimensional (2D) lidar array having a plurality of cells. The method further includes interpolating image data from a virtual camera with the 2D lidar array to define auxiliary image data, generating a virtual ambient image based on a red-channel (R-channel) data of the auxiliary image data, identifying a plurality of virtual echoes of the virtual SPAD lidar sensor based on the R-channel data and a defined photon threshold, defining a virtual point cloud indicative of virtual photon measurements of the virtual SPAD lidar sensor based on the plurality of virtual echoes, and outputting data indicative of the virtual ambient image, the virtual photon measurements, the virtual point cloud, or a combination thereof, as the virtual sensor data of the virtual SPAD lidar sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.