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公开(公告)号：US20240077614A1
公开(公告)日：2024-03-07
申请号：US18508808
申请日：2023-11-14
申请人： AEVA, INC.
发明人： Bruno Hexsel , Mina Rezk
CPC分类号： G01S17/58 , G01S7/4808 , G01S17/89
摘要： A method of operating a light detection and ranging (LiDAR) system is provided that includes performing a scene measurement using a LiDAR sensor capable of measuring Doppler per point. The method also includes estimating a velocity of the LiDAR sensor with respect to static points within the scene based on the scene measurement. The method may also include compensating for the velocity of the LiDAR sensor and compensating for a Doppler velocity of the LiDAR sensor.
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2.发明申请公开(公告)号：US20230090917A1
公开(公告)日：2023-03-23
申请号：US17991805
申请日：2022-11-21
申请人： AEVA, INC.
IPC分类号： G06T5/00 , G06T5/50 , G01S17/58 , G01S17/89 , G06V10/46 , G06V10/44 , G01S7/493 , G01S17/32 , G01S7/4912
摘要： 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) on a first point cloud. The method includes calculating, for each POI of the set of POIs, at least a first metric for a first set of neighborhood points to make a decision with respect to a subset of the set of POIs for transmission to a second point cloud. The method also includes extracting at least one of range or velocity information based on the second point cloud based on the decision.
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公开(公告)号：US20220236388A1
公开(公告)日：2022-07-28
申请号：US17719112
申请日：2022-04-12
申请人： AEVA, INC.
IPC分类号： G01S7/493 , G01S7/4912 , G01S17/58 , G01S17/32
摘要： A set of POIs of a point cloud are received at a first filter. Each POI of the set of POIs is filtered. At a second filter, based on a first metric, a first score of the POI is determined. At a third filter, based on a 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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4.发明授权公开(公告)号：US11783456B2
公开(公告)日：2023-10-10
申请号：US17991805
申请日：2022-11-21
申请人： AEVA, INC.
IPC分类号： G06T5/00 , G06T5/50 , G01S17/58 , G01S17/89 , G01S7/493 , G01S17/32 , G01S7/4912 , G06V10/30 , G06V20/64 , G06V10/44 , G06V10/46
CPC分类号： G06T5/002 , G01S7/493 , G01S7/4912 , G01S17/32 , G01S17/58 , G01S17/89 , G06T5/50 , G06V10/30 , G06V10/443 , G06V10/462 , G06V20/64
摘要： 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) on a first point cloud. The method includes calculating, for each POI of the set of POIs, at least a first metric for a first set of neighborhood points to make a decision with respect to a subset of the set of POIs for transmission to a second point cloud. The method also includes extracting at least one of range or velocity information based on the second point cloud based on the decision.
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公开(公告)号：US11610286B2
公开(公告)日：2023-03-21
申请号：US17398895
申请日：2021-08-10
申请人： AEVA, INC.
发明人： Krishna Toshniwal , Mina Rezk , Bruno Hexsel , Kumar Bhargav Viswanatha , Jose Krause Perin , Rajendra Tushar Moorti , James Nakamura
IPC分类号： G01C3/08 , G06T5/00 , G06T5/50 , G01S17/58 , G01S17/89 , G06V10/46 , G06V10/44 , G01S7/493 , G01S17/32 , G01S7/4912
摘要： 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：US20220404496A1
公开(公告)日：2022-12-22
申请号：US17706273
申请日：2022-03-28
申请人： AEVA, INC.
摘要： 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：US12061262B2
公开(公告)日：2024-08-13
申请号：US17710410
申请日：2022-03-31
申请人： AEVA, INC.
CPC分类号： G01S17/58 , G01S17/89 , G06T7/248 , G06T7/33 , G06T2207/10028
摘要： 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：US11828848B2
公开(公告)日：2023-11-28
申请号：US16353255
申请日：2019-03-14
申请人： Aeva, Inc.
发明人： Bruno Hexsel , Mina Rezk
CPC分类号： G01S17/58 , G01S7/4808 , G01S17/89
摘要： A method of operating a light detection and ranging (LiDAR) system is provided that includes performing a scene measurement using a LiDAR sensor capable of measuring Doppler per point. The method also includes estimating a velocity of the LiDAR sensor with respect to static points within the scene based on the scene measurement. The method may also include compensating for the velocity of the LiDAR sensor and compensating for a Doppler velocity of the LiDAR sensor.
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公开(公告)号：US20230213655A1
公开(公告)日：2023-07-06
申请号：US18064761
申请日：2022-12-12
申请人： AEVA, INC.
摘要： A method generates first points based on a first scan of an environment that includes one or more moving objects. The method transforms the first points into a first static frame, which includes removing one or more of the first points corresponding to the one or more moving objects. The method generates second points based on a second scan of the environment that includes the one or more moving objects. The method transforms the second points into a second static frame, which includes removing one or more of the second points corresponding to the one or more moving objects. The method combines the first static frame and the second static frame into an accumulated static frame, which has an increase in resolution compared with the first static frame. The method then loads the accumulated static frame into a point cloud.
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公开(公告)号：US20220120878A1
公开(公告)日：2022-04-21
申请号：US17398440
申请日：2021-08-10
申请人： AEVA, INC.
IPC分类号： G01S7/493 , G01S7/4912 , G01S17/58 , G01S17/32
摘要： 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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