US 12,270,904 B2
Maximum range indication in lidar point data
Mark Alexander Shand, Mountain View, CA (US); and Ming Zou, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Feb. 26, 2021, as Appl. No. 17/186,448.
Claims priority of provisional application 62/983,108, filed on Feb. 28, 2020.
Prior Publication US 2021/0270967 A1, Sep. 2, 2021
Int. Cl. G01S 17/10 (2020.01); G01S 7/481 (2006.01); G01S 7/497 (2006.01)
CPC G01S 17/10 (2013.01) [G01S 7/4817 (2013.01); G01S 7/497 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computing device comprising:
a controller having at least one processor and at least one memory, wherein the at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations, the operations comprising:
receiving information indicative of transmit light emitted from a lidar system along a plurality of light-emission axes;
determining, based on the received information, a maximum instrumented distance for each respective light-emission axis of the plurality of light-emission axes, wherein the maximum instrumented distance for each respective light-emission axis comprises a known unobstructed region defined by a ray segment extending between the lidar system and a point along the respective light-emission axis;
receiving additional information, wherein the additional information comprises information indicative of return light, wherein the return light corresponds to at least a portion of the transmit light that has been reflected from an object; and
determining, based on the additional information, an updated maximum instrumented distance for each respective light-emission axis of the plurality of light-emission axes.