Systems and methods for detecting erroneous LIDAR data
US12025752B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jun 24, 2022 |
| Grant date | Jul 2, 2024 |
| Priority date | — |
| Expiry date | Jan 4, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/931
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Techniques for detecting erroneous LIDAR data are disclosed herein. One embodiment receives LIDAR point-cloud data pertaining to a robot's environment; receives image data and generates segmented optical-flow data therefrom; fuses, in a 2D grid, a plurality of objects including LIDAR points and optical-flow pixels; executes a hash function that generates, for the plurality of objects, a 1D hash table and an associated index; performs one or more queries using the 1D hash table and the associated index to measure the extent of spatial correspondence between the LIDAR points and the optical-flow pixels; identifies the LIDAR point-cloud data as erroneous, when the extent of spatial correspondence fails to satisfy one or more predetermined criteria; and identifies the LIDAR point-cloud data as valid and controls operation of the robot based, at least in part, on the LIDAR point-cloud data, when the extent of spatial correspondence satisfies the one or more predetermined criteria.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.