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 |
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.
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