US 12,000,965 B2
Creating multi-return map data from single return lidar data
Deekshant Saxena, Mumbai (IN); and Senjuti Sen, Manpada (IN)
Assigned to HERE Global B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on Oct. 8, 2021, as Appl. No. 17/497,314.
Prior Publication US 2023/0113286 A1, Apr. 13, 2023
Int. Cl. G01S 7/497 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G06F 16/29 (2019.01); G06N 3/02 (2006.01)
CPC G01S 7/497 (2013.01) [G01S 17/89 (2013.01); G01S 17/931 (2020.01); G06N 3/02 (2013.01); G06F 16/29 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory configured to store single return Lidar data and real multi-return Lidar data;
a generative network configured to input the single return Lidar data and generate synthetic multi-return Lidar data; and
a discriminator network configured to distinguish the synthetic multi-return Lidar data from the real multi-return Lidar data;
wherein the generative network and discriminator network are iteratively trained using an adversarial approach where the generative network learns to generate more plausible synthetic multi-return Lidar data, while the discriminative network attempts to distinguish synthetic multi-return Lidar data produced by the generative network from the real multi-return Lidar data.