| CPC G01S 17/931 (2020.01) [G01S 17/86 (2020.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from a first lidar device, first lidar data associated with a vehicle operating in an environment;
receiving, from a second lidar device, second lidar data associated with the vehicle, wherein the first lidar device and the second lidar device are mounted at different locations of the vehicle;
determining a region of overlap between the first lidar data and the second lidar data;
determining, based at least in part on the first lidar data and the second lidar data and the region of overlap, third lidar data;
determining, based at least in part on elevation data of the third lidar data and azimuth data of the third lidar data, a subset of the third lidar data, wherein the subset includes a set of lidar points;
determining a first lidar point of the subset of the third lidar data and a second lidar point of the subset of the third lidar data;
determining, based at least in part on a first range of the first lidar point and a second range of the second lidar point, a range difference;
determining that the range difference of the first range and the second range meets or exceeds a threshold range;
determining, based at least in part on the range difference meeting or exceeding the threshold range, a modified subset of lidar points; and
controlling, based at least in part on the modified subset of lidar points, operation of the vehicle including modifying a trajectory of the vehicle.
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