US 11,921,210 B2
Method and system for classification of an object in a point cloud data set
Stephen C. Crouch, Bozeman, MT (US); Brant Kaylor, Bozeman, MT (US); and Randy R. Reibel, Bozeman, MT (US)
Assigned to Aurora Operations, Inc., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Oct. 4, 2022, as Appl. No. 17/959,406.
Application 17/959,406 is a continuation of application No. 16/464,063, granted, now 11,537,808, previously published as PCT/US2017/062721, filed on Nov. 21, 2017.
Claims priority of provisional application 62/427,573, filed on Nov. 29, 2016.
Prior Publication US 2023/0049376 A1, Feb. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/42 (2006.01); G01S 7/48 (2006.01); G01S 17/89 (2020.01); G06F 18/22 (2023.01); G06F 18/2413 (2023.01); G06F 18/2431 (2023.01); G06V 10/40 (2022.01); G06V 10/74 (2022.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06V 20/64 (2022.01)
CPC G01S 17/42 (2013.01) [G01S 7/4802 (2013.01); G01S 7/4808 (2013.01); G01S 17/89 (2013.01); G06F 18/22 (2023.01); G06F 18/24147 (2023.01); G06F 18/2431 (2023.01); G06V 10/40 (2022.01); G06V 10/7515 (2022.01); G06V 10/761 (2022.01); G06V 10/764 (2022.01); G06V 20/64 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A light detection and ranging (LIDAR) sensor system for a vehicle, comprising:
a sensor configured to:
transmit a transmit beam, the transmit beam having at least one of a frequency or a phase that is modulated over time;
receive a return beam from reflection or scattering of the transmit beam by an object; and
output a data signal comprising at least one point cloud data point representing the object; and
one or more processors configured to:
determine at least one feature variable based on the at least one point cloud data point;
determine a first classification statistic based on the at least one feature variable;
determine a second classification statistic based on the at least one feature variable; and
determine an object class corresponding to the object based on the first classification statistic and the second classification statistic.