US 12,449,548 B2
Method and device for identifying blooming candidates in a Lidar measurement
David Peter, Stuttgart (DE); Matthias Pfender, Winnenden (DE); Markus Enzweiler, Deckenpfronn (DE); Axel Fink, Tübingen (DE); and Philipp Lehner, Mühlacker (DE)
Assigned to Mercedes-Benz Group AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 18/251,295
Filed by Mercedes-Benz Group AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Sep. 8, 2021, PCT No. PCT/EP2021/074677
§ 371(c)(1), (2) Date May 1, 2023,
PCT Pub. No. WO2022/089819, PCT Pub. Date May 5, 2022.
Claims priority of application No. 10 2020 128 732.1 (DE), filed on Nov. 2, 2020.
Prior Publication US 2023/0408702 A1, Dec. 21, 2023
Int. Cl. G01S 17/931 (2020.01); G01S 7/481 (2006.01); G01S 7/4865 (2020.01); G01S 17/89 (2020.01)
CPC G01S 17/931 (2020.01) [G01S 7/4816 (2013.01); G01S 7/4865 (2013.01); G01S 17/89 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A method for identifying blooming candidates in a Lidar measurement, comprising:
a distance-based histogram of points is created for a point cloud generated by the Lidar measurement,
clusters of points at a same distance to a Lidar sensor taking the Lidar measurement are identified in the histogram,
intensities of points in a cluster are evaluated, and
then, in response to the cluster containing points whose intensities exceed a predefined limit value respectfully, those points in the cluster whose intensities do not exceed the predefined limit value respectfully, and lie below the predefined limit value by more than a predefined threshold value, are classified as blooming candidates,
wherein points in that cluster whose intensities exceed the predefined limit value respectfully are classified as highly reflective measurement values and as true-positive measurement values,
wherein when the point cloud is generated:
linear laser pulses and/or rectangular laser pulses are sent out from a transmitter of the Lidar sensor,
for each laser pulse reflected by an object that appears on the receiver of the Lidar sensor, a point is generated in the point cloud,
to determine a distance to objects in a surroundings of the Lidar sensor, a time is detected until a reflected laser pulse reaches a specific receiver of the Lidar sensor, and
a value for a determined distance is assigned to each point, and
control at least partially autonomous vehicle or robot based on data collected in the Lidar measurements, and the points classified as blooming candidates.