US 11,754,721 B2
Visualization and semantic monitoring using lidar data
Pierre Amelot, San Francisco, CA (US); Daniel Lu, San Francisco, CA (US); Angus Pacala, San Francisco, CA (US); and Kairen Wong, San Mateo, CA (US)
Assigned to Ouster, Inc., San Francisco, CA (US)
Filed by Ouster, Inc., San Francisco, CA (US)
Filed on Aug. 9, 2022, as Appl. No. 17/818,662.
Application 17/818,662 is a continuation of application No. 16/808,988, filed on Mar. 4, 2020, granted, now 11,422,265.
Claims priority of provisional application 62/813,699, filed on Mar. 4, 2019.
Prior Publication US 2022/0390610 A1, Dec. 8, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/894 (2020.01); G01S 17/931 (2020.01); B60W 50/14 (2020.01); B60W 40/04 (2006.01); G01S 7/51 (2006.01)
CPC G01S 17/894 (2020.01) [B60W 40/04 (2013.01); B60W 50/14 (2013.01); G01S 7/51 (2013.01); G01S 17/931 (2020.01); B60W 2050/146 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method using a light ranging system, the light ranging system comprising a control unit communicatively coupled with one or more light ranging devices, the one or more light ranging devices providing ranging data that includes a plurality of distance vectors between the one or more light ranging devices and a plurality of environmental surfaces, each distance vector of the plurality of distance vectors corresponding to a pixel of a three-dimensional image stream, the method comprising performing by a computing system:
receiving the ranging data from the one or more light ranging devices via one or more communication channels;
identifying a first pose of a virtual camera relative to the one or more light ranging devices, the first pose defining a first field of view of the virtual camera, wherein the one or more light ranging devices are respectively separated from the first pose by one or more first vectors;
translating a first portion of the plurality of distance vectors using the one or more first vectors, thereby obtaining first translated distance vectors that are within the first field of view of the virtual camera;
displaying, on a display device of the computing system, first pixels of the three-dimensional image stream using first colors associated with the first translated distance vectors at first pixel positions specified by the first translated distance vectors;
receiving an indication of a change in the virtual camera;
in response to the indication of the change in the virtual camera, identifying a second pose of the virtual camera relative to the one or more light ranging devices, the second pose defining a second field of view of the virtual camera, wherein the one or more light ranging devices are respectively separated from the second pose by one or more second vectors;
translating a second portion of the plurality of distance vectors using the one or more second vectors, thereby obtaining second translated distance vectors that are within the second field of view of the virtual camera;
and
displaying, on the display device of the computing system, second pixels of the three-dimensional image stream using second colors associated with the second translated distance vectors at second pixel positions specified by the second translated distance vectors.