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公开(公告)号：US11988747B2
公开(公告)日：2024-05-21
申请号：US17706273
申请日：2022-03-28
Applicant: AEVA, INC.
Inventor： Bruno Hexsel , Heethesh Vhavle Naresh
CPC classification number: G01S17/58 , G01S17/89 , G06T7/248 , G06T7/33 , G06T2207/10028
Abstract: A system and method including, predicting, using a sensor system, a first set of Doppler velocity information for a first point set to produce a first predicted set of Doppler velocity information for the first point set. The method includes determining one or more Doppler velocity errors based on the first predicted set of Doppler velocity information and a second set of Doppler velocity information measured for one or more points of the first point set. The method includes producing, in view of the one or more Doppler velocity errors, a transform that aligns the one or more points of the first point set with one or more points of a second point set to produce one or more scan frames.
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公开(公告)号：US20220120879A1
公开(公告)日：2022-04-21
申请号：US17398895
申请日：2021-08-10
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Mina Rezk , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin , Rajendra Tushar Moorti , James Nakamura
Abstract: A set of POIs of a point cloud are received at a first filter, where each POI of the set of POIs comprises one or more points. Each POI of the set of POIs is filtered. A set of neighborhood points of a POI is selected. A metric for the set of neighborhood points is computed. Based on the metric, whether to accept the POI, modify the POI, reject the POI, or transmit the POI to a second filter, to extract at least one of range or velocity information related to the target is determined. Provided the POI is accepted or modified, the POI is transmitted to a filtered point cloud; provided the POI is rejected, the POI is prevented from reaching the filtered point cloud; provided the POI is not accepted, modified, or rejected, the POI is transmitted to a second filter.
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公开(公告)号：US11294059B1
公开(公告)日：2022-04-05
申请号：US17349767
申请日：2021-06-16
Applicant: AEVA, INC.
Inventor： Bruno Hexsel , Heethesh Vhalve Naresh
Abstract: A system and method including, determining an alignment between one or more points of a first point set and one or more points of a second point set; predicting a first set of Doppler velocity information for the first point set to produce a first predicted set of Doppler velocity information; comparing a second set of Doppler velocity information and the first predicted set of Doppler velocity information to compute one or more Doppler velocity errors; predicting a third set of Doppler velocity information for the second point set to produce a second predicted set of Doppler velocity information; comparing a fourth set of Doppler velocity information and the second predicted set of Doppler velocity information to compute Doppler velocity errors; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set.
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公开(公告)号：US11287529B1
公开(公告)日：2022-03-29
申请号：US17349714
申请日：2021-06-16
Applicant: AEVA, INC.
Inventor： Bruno Hexsel , Heethesh Vhalve Naresh
Abstract: A system and method including, determining an alignment between one or more points of a first point set and one or more points of a second point set; provided the alignment does not satisfy a point set alignment threshold, wherein the point set alignment threshold represents a geometric alignment error threshold between the first and second point sets: predicting a first set of Doppler velocity information for the first point set to produce a first predicted set of Doppler velocity information for the first point set; comparing a second set of Doppler velocity information and the first predicted set of Doppler velocity information to compute one or more Doppler velocity errors; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set to produce a globally consistent registered point set.
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公开(公告)号：US20230267575A1
公开(公告)日：2023-08-24
申请号：US18123782
申请日：2023-03-20
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Mina Rezk , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin , Rajendra Tushar Moorti , James Nakamura
IPC: G06T5/00 , G06T5/50 , G01S17/58 , G01S17/89 , G01S7/493 , G01S17/32 , G01S7/4912 , G06V10/30 , G06V20/64 , G06V10/44 , G06V10/46
CPC classification number: G06T5/002 , G01S7/493 , G01S7/4912 , G01S17/32 , G01S17/58 , G01S17/89 , G06T5/50 , G06V10/30 , G06V10/443 , G06V10/462 , G06V20/64
Abstract: A set of POIs of a point cloud are received at a first filter, where each POI of the set of POIs comprises one or more points. Each POI of the set of POIs is filtered. A set of neighborhood points of a POI is selected. A metric for the set of neighborhood points is computed based on a property of the set of neighborhood points and the POI, wherein the property comprises a velocity. Based on the metric, whether to accept the POI, modify the POI, reject the POI, or transmit the POI to a second filter, to extract at least one of range or velocity information related to the target is determined. Provided the POI is not accepted, modified, or rejected, the POI is transmitted to the second filter to determine whether to accept, modify, or reject the POI to extract the at least one of range or velocity information related to the target.
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Patent Agency Ranking
公开(公告)号：US20220404497A1
公开(公告)日：2022-12-22
申请号：US17710410
申请日：2022-03-31
Applicant: AEVA, INC.
Inventor： Bruno Hexsel , Heethesh Vhalve Naresh
Abstract: A system and method including, predicting a first set of Doppler velocity information for a first point set to produce a first predicted set of Doppler velocity information for the first point set; determining one or more Doppler velocity errors based on the first predicted set of Doppler velocity information and a second set of Doppler velocity information; predicting a third set of Doppler velocity information for the second point set to produce a second predicted set of Doppler velocity information for the second point set; determining one or more Doppler velocity errors based on at least one of the second predicted set of Doppler velocity information and a fourth set of Doppler velocity information; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set.
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公开(公告)号：US11508040B2
公开(公告)日：2022-11-22
申请号：US17511302
申请日：2021-10-26
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin
IPC: G06T5/00 , G06T5/50 , G01S17/58 , G01S17/89 , G06V10/46 , G06V10/44 , G01S7/493 , G01S17/32 , G01S7/4912
Abstract: Techniques for cascade filtering of a set of points of interest (POIs) in a light detection and ranging (LiDAR) system is described. The method includes performing a series of cascaded filtering of a set of points of interest (POIs) in a first point cloud and a second point cloud of the LiDAR system. The method also includes calculating at least a first metric over at least the POI and to make a decision with respect to the second point cloud, and extracting at least one of range and velocity information based on the second point cloud.
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公开(公告)号：US20220122226A1
公开(公告)日：2022-04-21
申请号：US17511302
申请日：2021-10-26
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin
Abstract: Techniques for cascade filtering of a set of points of interest (POIs) in a light detection and ranging (LiDAR) system is described. The method includes performing a series of cascaded filtering of a set of points of interest (POIs) in a first point cloud and a second point cloud of the LiDAR system. The method also includes calculating at least a first metric over at least the POI and to make a decision with respect to the second point cloud, and extracting at least one of range and velocity information based on the second point cloud.
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公开(公告)号：US11307295B1
公开(公告)日：2022-04-19
申请号：US17398440
申请日：2021-08-10
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin
IPC: G01C3/08 , G01S7/493 , G01S17/32 , G01S17/58 , G01S7/4912
Abstract: A set of POIs of a point cloud are received at a first filter, where each POI of the set of POIs comprises one or more points. Each POI of the set of POIs is filtered. At a second filter, a first set of neighborhood points of a POI is selected. A first metric for the first set of neighborhood points is computed. Based on the first metric, a first score of the POI is determined. At a third filter, a second set of neighborhood points of a POI is selected. A second metric for the second set of neighborhood points is computed. Based on the second metric, a second score of the POI is determined. At the first filter, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, is determined to extract range or velocity information.
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公开(公告)号：US11170476B1
公开(公告)日：2021-11-09
申请号：US17342247
申请日：2021-06-08
Applicant: AEVA, INC.
Inventor： Krishna Toshniwal , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin
Abstract: Each POI of a set of POIs of a first point cloud is filtered. At a first filter, a first set of neighborhood points of a POI is selected; a first metric for the first set of neighborhood points is computed; and based on the first metric, whether to accept, modify, reject or transmit the POI to a second filter is determined. Provided the POI is accepted or modified, the POI is transmitted to a second point cloud; provided the POI is rejected, the POI is prevented from reaching the second point cloud; provided the POI is not accepted, modified, or rejected, the POI is transmitted to a second filter. At the second filter, provided the POI is accepted or modified, the POI is transmitted to the second point cloud. At least one of range and velocity information is extracted based on the second point cloud.
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