US 11,906,670 B2
Interference mitigation for light detection and ranging
Matthew Rekow, Alameda, CA (US); Stephen Nestinger, Fremont, CA (US); and Aaron Chen, Fremont, CA (US)
Assigned to Velodyne Lidar USA, Inc., San Jose, CA (US)
Filed by VELODYNE LIDAR USA, INC., San Jose, CA (US)
Filed on Apr. 6, 2020, as Appl. No. 16/841,506.
Application 16/841,506 is a continuation of application No. 16/459,557, filed on Jul. 1, 2019, granted, now 10,613,203, issued on Apr. 7, 2020.
Prior Publication US 2021/0003681 A1, Jan. 7, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 7/48 (2006.01); G01S 7/487 (2006.01); G01S 17/10 (2020.01)
CPC G01S 7/4876 (2013.01) [G01S 17/10 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A light detection and ranging apparatus, comprising:
a light emitter configured to generate, according to a first electrical pulse signal, a first light signal comprising one or more pulses;
a receiver configured to receive a return light signal, wherein a controller in communication with the receiver is configured to generate one more points in a point cloud based on the return light signal, wherein the point cloud includes a set of points representing a partial surface of an object and a subsystem, configured to identify as noise a target point from the set of points representing the partial surface of the object by determining whether there is a coherence between the target point and a first neighboring point of the target point along a first direction and a coherence between the target point and a second neighboring point of the target point along a second direction, wherein the first neighboring point and the second neighboring point are from the set of points representing the partial surface of the object in the point cloud.