| CPC G01S 7/487 (2013.01) [G01S 17/931 (2020.01); G06T 7/44 (2017.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data comprising phase data and intensity data from a time-of-flight sensor associated with a vehicle in an environment;
determining a first region of the intensity data based at least in part on a first intensity value of a first pixel and a second intensity value of a second pixel;
determining, for a second region of the phase data corresponding to the first region of the intensity data, that a difference between a first phase value of associated with the second region and a second phase value associated with the second region meets or exceeds a threshold difference;
determining, based at least in part on the difference, that at least one of a first phase element associated with the first phase value or a second phase element associated with the second phase value is a candidate element associated with multipath interference; and
controlling the vehicle based at least in part on the candidate element being associated with multipath interference.
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