US 11,988,747 B2
Techniques for doppler point set registration
Bruno Hexsel, Mountain View, CA (US); and Heethesh Vhavle Naresh, Sunnyvale, CA (US)
Assigned to Aeva, Inc., Mountain View, CA (US)
Filed by AEVA, INC., Mountain View, CA (US)
Filed on Mar. 28, 2022, as Appl. No. 17/706,273.
Application 17/706,273 is a continuation of application No. 17/349,714, filed on Jun. 16, 2021, granted, now 11,287,529.
Prior Publication US 2022/0404496 A1, Dec. 22, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/58 (2006.01); G01S 17/89 (2020.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01)
CPC G01S 17/58 (2013.01) [G01S 17/89 (2013.01); G06T 7/248 (2017.01); G06T 7/33 (2017.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
predicting, based on information measured by a sensor system, a first set of Doppler velocity information for a first point set to produce a first predicted set of Doppler velocity information for the first point set;
determining, based on the first predicted set of Doppler velocity information and a second set of Doppler velocity information measured for one or more points of a second point set, one or more Doppler velocity errors; and
producing, based on the one or more Doppler velocity errors, a transform that aligns the one or more points of the first point set with one or more points of the second point set to produce one or more scan frames.